Home dialysis supply delivery robot, network, and method

Abstract

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

Description

Cross - reference to related applications

[0005] , , ,

[0001]

[0001] This application claims the priority of U.S. Patent Application No. 17 / 211,141, filed on March 24, 2021, which is hereby incorporated by reference in its entirety.

Technical Field

[0002]

[0002] The present invention relates to the delivery of supplies using a robot. The present invention also relates to a delivery network for delivering supplies to a home.

Background Art

[0003]

[0003] Home dialysis is a preferred dialysis treatment method in many cases because patients can perform dialysis more frequently and comfortably at home according to their own schedules. Also, home dialysis is typically more cost - effective because it does not require the physical infrastructure costs of a clinic, transportation costs, and the attendant costs of medical professionals to perform the procedure. However, one of the challenges of home dialysis is the distribution of dialysis supplies to the patient's home.

[0004]

[0004] Current methods of delivering home dialysis supplies involve using large delivery trucks where a driver needs to use an electric pallet jack and an electric hand truck to pack, load, deliver, unload, and unpack the dialysis supplies. Sometimes, dialysis supplies for six pallets are delivered. The delivery may include up to a one - month supply of dialysis supplies, such as dialysis solution bags, disposable tube sets, bags of physiological saline, other chemicals, cleaning supplies, masks, gloves, wipes, and related supplies. During normal working hours, six to ten individual deliveries can be made from the truck to different home dialysis patients.

[0005]

[0005] Home dialysis supplies need to be stored once they are delivered to the patient's home. Delivering a large quantity of supplies all at once places a storage burden on dialysis patients. Furthermore, when moving the dialysis supplies from the truck into the house, the driver may bring mud, rain, snow, soil, sand, grass, leaves, pet waste, and other lawn and garden debris into the patient's home. Another difficulty is reaching isolated patients in remote areas or patients living in residences with obstacles in the way of the entrance, such as curbs, steps, steep slopes, rough roads, landings, porches, gates, and fences. Some of these obstacles have so far ruled out home dialysis as an option. [Overview of the project]

[0006]

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

[0007]

[0007] Another feature of the present invention is to provide delivery robots, networks, and methods for increasing the frequency of delivery of dialysis supplies to residences such as the homes of dialysis patients, and thus reducing the storage space requirements of the residences.

[0008]

[0008] A further feature of the present invention is to provide a delivery robot, network, and method that enables the delivery of dialysis supplies to residences, such as the homes of dialysis patients located in remote areas.

[0009]

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

[0010]

[0010] An additional feature of the present invention is to provide delivery robots, networks, and methods that enable autonomous delivery and access to residences for safe and secure drop-off of dialysis supplies.

[0011]

[0011] An additional feature of the present invention is to provide a delivery robot, network, and method that enables an autonomous delivery robot to gain access to a dwelling in order to drop off home dialysis products without bringing debris such as grass, mud, water, snow, mud, soil, leaves, stones, clay, sand, and animal excrement into the dwelling.

[0012]

[0012] Additional features and advantages of the present invention are partially described in the following description, partially apparent from the description, or can be acquired through the practice of the present invention. The object and other advantages of the present invention are realized and achieved by the elements and combinations specifically shown in this description and the appended claims.

[0013]

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

[0014]

[0014] The drivetrain may be configured to be controlled by a control unit to accomplish various tasks. The drivetrain may be controlled to maintain the indoor power traction device in an elevated position while the outdoor power traction device traverses an outdoor surface. The drivetrain may be controlled to lower the indoor power traction device into the house at the threshold while the outdoor power traction device remains in contact with the outdoor surface outside the threshold into the house. The drivetrain may further be controlled to lift the outdoor power traction device when the indoor power traction device comes into contact with the interior surface inside the house. In this way, the outdoor power traction device does not come into contact with the interior surface and does not bring debris into the house, or prevents it from doing so.

[0015]

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

[0016]

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

[0017]

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

[0018]

[0018] The system may further include a computing system associated with the first AGV, comprising a processor and memory. The memory may or may store computer-readable instructions therein. The computing system may be configured to instruct the first AGV to perform an action when executed by the processor. The action may include (1) driving the first AGV in an outdoor configuration to the entrance of a dwelling associated with the delivery of one or more articles held in a receptacle. The action may include (2) converting from an outdoor configuration to an indoor configuration at the entrance of the dwelling, where in the indoor configuration, the indoor powered traction device is deployed from the first AGV so that it engages with the dwelling surface, and the outdoor powered traction device is retracted so that it rises above the dwelling surface. The action may include (3) driving the first AGV in an indoor configuration, which is on the dwelling surface inside the dwelling, to an indoor drop-off location. The system may further include a delivery vehicle, a warehouse, or both.

[0019]

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

[0020]

[0020] One or more articles may comprise a dialysis supply, which may comprise a solution bag, a disposable tube set, saline solution, chemicals, a mask, gloves, wipes, or a combination thereof. The delivery route may comprise a road route and an entrance route. The road route may comprise a route from the AGV drop-off location to the front of the residence associated with the delivery of one or more articles. The entrance route may comprise a route from the front of the residence to the entrance of the residence. The computing system may instruct the first AGV to travel along an indoor route from the entrance of the residence to an indoor drop-off location inside the residence. The computing system may instruct the first AGV to convert from an outdoor configuration to an indoor configuration between traveling along the entrance route and traveling along the indoor route.

[0021]

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

[0022]

[0022] This method may also involve dropping off a plurality of delivery robots at different respective locations and then having them return to pick up after each has delivered supplies to a respective residence. A robotic delivery vehicle, such as a truck, may be used in accordance with this method and may include a charging station, a cleaning station, and a supply depot (store). The robotic delivery vehicle and the delivery robots can all operate autonomously, for example, based on received prescription information regarding home dialysis patients in different respective residences.

[0023]

[0023] It should be understood that both the foregoing summary and the following detailed description are merely illustrative and explanatory and are intended to provide further explanation of the invention as claimed.

[0024]

[0024] It should be understood that both the foregoing summary and the following detailed description are merely illustrative and explanatory and are intended to provide further explanation of the invention as claimed.

[0025]

[0025] The present invention can be more fully understood by reference to the accompanying drawings. The drawings are intended to illustrate the present teachings in accordance with embodiments of the invention and are not intended to be limiting.

Brief Description of the Drawings

[0026] [Figure 1A]

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

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

[0028] It is a side view of the autonomous ground vehicle shown in Figures 1A and 1B with an indoor configuration inside the residence shown in Figure 1B. [Figure 1D]

[0029] Cross-sectional views of the supply receptacle of the autonomous ground vehicle shown in FIGS. 1A-1C, showing the box of the in-home dialysis supplies held therein. [Figure 2]

[0030] Partial perspective side view of an autonomous ground vehicle with an outdoor configuration according to another embodiment of the present invention, showing a plurality of indoor wheels in the reverse position. [Figure 3]

[0031] Schematic diagram of a computing system of an autonomous ground vehicle, i.e., a delivery robot, according to an embodiment of the present invention. [Figure 4]

[0032] Schematic diagram of an autonomous delivery robot network according to an embodiment of the present invention. [Figure 5]

[0033] Schematic diagram of an autonomous delivery robot network configured to deliver supplies to three different residences according to an embodiment of the present invention. [Figure 6A]

[0034] Front view of a dual-wheel propulsion unit of an autonomous ground vehicle with an outdoor configuration according to an embodiment of the present invention. [Figure 6B]

[0035] Front view of the dual-wheel propulsion unit shown in FIG. 6A, which is an indoor configuration. [Figure 7A]

[0036] Front view of an autonomous ground vehicle with an outdoor configuration according to an embodiment of the present invention. [Figure 7B]

[0037] Front view of the autonomous ground vehicle shown in FIG. 7A, which is starting to transition from the outdoor configuration shown in FIG. 7A to the indoor configuration. [Figure 7C]

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

[0039] Front view of the autonomous ground vehicle shown in FIGS. 7A-7C, which is further transitioning from the outdoor configuration shown in FIG. 7A to the indoor configuration. [Figure 7E]

[0040] Figures 7A to 7D are front views of the autonomous ground vehicle, which has transitioned from the outdoor configuration shown in Figure 7A to the indoor configuration. [Figure 7F]

[0041] Figures 7A to 7E show front views of the autonomous ground vehicle, which is in the final stage of transitioning from the outdoor configuration shown in Figure 7A to the indoor configuration. [Figure 7G]

[0042] These are front views of the autonomous ground vehicle shown in Figures 7A to 7F, which are configured indoors. [Figure 8]

[0043] Figures 7A to 7G show perspective views of the lift of the autonomous ground vehicle. [Figure 9A]

[0044] This is a front view of an autonomous ground vehicle with an outdoor configuration according to one embodiment of the present invention. [Figure 9B]

[0045] Figure 9A shows a front view of the autonomous ground vehicle in an indoor configuration, indicating the maximum payload width. [Figure 9C]

[0046] Figures 9A and 9B show side views of the autonomous ground vehicle in an indoor configuration, illustrating an example of a recipient who collects dialysis supplies from the receptacle of the autonomous ground vehicle. [Figure 9D]

[0047] These are side views of the autonomous ground vehicle shown in Figures 9A to 9C, which is configured for outdoor use. [Figure 10A]

[0048] This is a side view of an autonomous ground vehicle according to one embodiment of the present invention, showing an intermediate wheel structure that transitions from an indoor configuration to an outdoor configuration. [Figure 10B]

[0049] Figure 10A is a front view of the autonomous ground vehicle, which is configured indoors. [Figure 10C]

[0050] These are front views of the autonomous ground vehicle shown in Figures 10A and 10B, which are configured for outdoor use. [Figure 11]

[0051] This is a side view of an autonomous ground vehicle with an outdoor configuration according to one embodiment of the present invention. [Figures 12A-12B]

[0052] This is a side view of the delivery robot system according to the present invention, showing an indoor robot in a piggyback configuration on top of an outdoor robot (Figure 12A), and showing the indoor robot leaving the outdoor robot and entering a dwelling. [Modes for carrying out the invention]

[0027]

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

[0028]

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

[0029]

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

[0030]

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

[0031]

[0057] The delivery robot may also be equipped with a lift. The lift may be configured to raise the delivery robot to an elevated position so that both the outdoor and indoor powered traction devices are lifted away from the outdoor surface, the indoor surface, or both the outdoor and indoor surfaces. The delivery robot may be configured to transition between the outdoor and indoor configurations while in the elevated position.

[0032]

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

[0033]

[0059] According to one or more embodiments, the drivetrain may be configured to be controlled by a control unit to (1) maintain the indoor power traction device in an elevated position while the outdoor power traction device traverses an outdoor surface, and (2) lower the indoor power traction device into the house at the threshold while the outdoor power traction device remains in contact with the outdoor surface outside the threshold into the house. The drivetrain may further be configured to be controlled by the control unit to (3) raise the outdoor power traction device when the indoor power traction device comes into contact with the interior surface inside the house. In this way, the outdoor power traction device can not come into contact with, or be prevented from coming into contact with, the interior surface.

[0034]

[0060] The delivery robot may also be equipped with an outdoor powered traction device shield. The control unit may be configured to control the drivetrain to move the outdoor powered traction device shield to a position that shields the outdoor powered traction device, for example, after the outdoor powered traction device has been lifted at the threshold of a house and before the delivery robot passes over the threshold and moves into the house. The delivery robot may also be equipped with an indoor powered traction device shield. The control unit may be configured to control the drivetrain to move the indoor powered traction device shield to a position that shields the indoor powered traction device, before the indoor powered traction device is lowered into the house at the threshold of the house.

[0035]

[0061] The delivery robot may be equipped with both an outdoor powered traction device shield and an indoor powered traction device shield. The control unit may be configured to control the drivetrain to (1) move the outdoor powered traction device shield to a position that shields the outdoor powered traction device, for example, after the outdoor powered traction device has been lifted at the threshold of the house and before the delivery robot has passed the threshold and moved into the house. The control unit may further be configured to control the drivetrain to (2) move the indoor powered traction device shield to a position that shields the indoor powered traction device, before the indoor powered traction device has been lowered into the house at the threshold of the house. The control unit may further be configured to (3) unshield the indoor powered traction device at the threshold so that the indoor powered traction device can be lowered to the interior surface inside the house and make contact with the interior surface.

[0036]

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

[0037]

[0063] Outdoor powered traction devices may comprise one or more of the following: wheels, tracks, treads, tires, rollers, brushes, rims, walking legs, and combinations thereof. Indoor powered traction devices may comprise one or more of the following: wheels, tracks, treads, tires, rollers, brushes, rims, walking legs, and combinations thereof. Outdoor powered traction devices may comprise wheel modules, sets of wheels, multiple wheels, single axles, multi-axles, and combinations thereof. Indoor powered traction devices may comprise wheel modules, sets of wheels, multiple wheels, single axles, multi-axles, and combinations thereof.

[0038]

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

[0039]

[0065] A home dialysis supply delivery network is also provided, which can be configured to send prescription information about home dialysis patients living at home via a remote network computer. Autonomous delivery robots can be configured to receive prescription information from the remote network computer. The autonomous delivery robots can be configured to react autonomously to the received prescription information, load the prescribed home dialysis supplies onto themselves based on the received prescription information, and deliver the prescribed home dialysis supplies to home dialysis patients at home.

[0040]

[0066] This network may include robotic transport vehicles, which may be equipped with lifts for loading, unloading, or loading / unloading autonomous delivery robots. The robotic transport vehicles may also be equipped with storage facilities for home dialysis supplies. The lifts may be configured to be used by autonomous delivery robots to load themselves with prescribed home dialysis supplies.

[0041]

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

[0042]

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

[0043]

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

[0044]

[0070] According to one or more embodiments, a system for delivering goods is provided. The system may comprise one or more AGVs, including at least a first autonomous ground vehicle (AGV). The first AGV may comprise an outdoor powered towing device, an indoor powered towing device, a receptacle configured to hold one or more goods inside, and one or more motors configured to drive the outdoor powered towing device and the indoor powered towing device and to convert the AGV between an outdoor configuration and an indoor configuration. The system may further comprise a computing system associated with the first AGV and comprising a processor and memory. The memory may store or has stored computer-readable instructions. The computing system may be configured to instruct the first AGV to take an action when executed by the processor. The action may involve (1) driving the first AGV in its outdoor configuration to the entrance of a dwelling associated with the delivery of one or more goods held inside the receptacle. In the outdoor configuration, the outdoor powered traction device may be deployed from the first AGV so that it engages with the outdoor surface, and the indoor powered traction device may be retracted so that it rises above the outdoor surface. The action may also involve (2) converting from the outdoor configuration to the indoor configuration at the entrance to the dwelling, where, in the indoor configuration, the indoor powered traction device is deployed from the first AGV so that it engages with the dwelling surface, and the outdoor powered traction device may be retracted so that it rises above the dwelling surface. The action may also involve (3) driving the first AGV of the indoor configuration, which is on the dwelling surface inside the dwelling, to the indoor drop-off location.

[0045]

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

[0046]

[0072] According to one or more embodiments of the system, the computing system may be configured such that, when executed by the processor, a computer-readable instruction determines when one or more items have been removed from a receptacle, and when it determines that one or more items have been removed from the receptacle, it instructs the first AGV to provide follow-up instructions. The follow-up instructions may include (1) instructions for traveling in an indoor configuration from an indoor drop-off location to the entrance of a residence. The follow-up instructions may include (2) instructions for converting from an indoor configuration to an outdoor configuration at the entrance of a residence. The follow-up instructions may include (3) instructions for traveling back to the delivery vehicle in an outdoor configuration.

[0047]

[0073] The first AGV may be equipped with one or more sensors, one or more of which may be configured to detect whether the access barrier at the entrance is open. One or more sensors may be configured to send an open signal to a computing system when it detects that the access barrier is open. Upon receiving the open signal, the computing system may be configured to instruct the first AGV to convert from an outdoor configuration to an indoor configuration. The entrance route from the drop-off location to the entrance may be stored in memory or streamed to the computing system. The indoor route from the entrance of the residence to the indoor drop-off location may be stored in memory or streamed to the computing system. The computing system may be configured to determine the entrance route and the indoor route. The route may be determined from data loaded into memory, data acquired by one or more sensors, data acquired by a navigation system, data acquired wirelessly from a remote computing system, or a combination thereof.

[0048]

[0074] The first AGV of the system may be equipped with an optical sensor. The first AGV of the system may be equipped with a distance sensor. The first AGV of the system may be equipped with a proximity sensor directed towards a receptacle and configured to determine whether an item is inside the receptacle. The dwelling may have an access barrier, and the access barrier may have a lock. The first AGV may be equipped with an identification tag, and the dwelling may have a reader configured to read the identification tag. The lock may be configured such that when the identification tag is read by the reader, the lock is released and the access barrier opens. The identification tag may be a radio frequency identification (RFID) tag, and the reader may be an RFID reader.

[0049]

[0075] The dwelling may be equipped with a remote computing system. The first AGV may be equipped with a wireless transmitter. The computing system may be configured to instruct the first AGV to send wireless communications to the remote computing system. The wireless communications may include notifications that the first AGV has arrived at the dwelling, notifications regarding the estimated time of arrival of the first AGV at the dwelling, or a combination thereof. The remote computing system may be part of a mobile device, a smart doorbell, a smart lock, a smart TV, a smart speaker, or a combination thereof.

[0050]

[0076] According to one or more embodiments, an outdoor powered traction device and an indoor powered traction device may be pivotably coupled to a frame. When the first AGV is converted from an outdoor configuration to an indoor configuration, a system may be provided in which one or more motors pivot the indoor powered traction device from a raised position to a horizontal position through the entrance so that the indoor powered traction device engages with the interior surface of the dwelling. The conversion may involve one or more motors pivoting the outdoor powered traction device from a horizontal position to a raised position so that the outdoor powered traction device is lifted away from the outdoor surface outside the entrance before the first AGV fully enters the dwelling. The first AGV may further comprise a pivot arm that pivotably connects a receptacle to a frame, and one or more motors may be configured to pivot the pivot arm so that the receptacle moves from a position above the outdoor powered traction device to a position above the indoor powered traction device while both the outdoor powered traction device and the indoor powered traction device are in a horizontal position.

[0051]

[0077] The first AGV may further comprise at least one shield configured to cover the indoor powered traction device in an outdoor configuration, and configured to cover the outdoor powered traction device in an indoor configuration. The at least one shield may comprise a first shield configured to cover the indoor powered traction device in an outdoor configuration, and a second shield configured to cover the outdoor powered traction device in an indoor configuration. According to one or more embodiments of the system, the outdoor powered traction device comprises one or more of the following: wheels, tracks, treads, tires, rollers, brushes, rims, walking legs, and combinations thereof. According to one or more embodiments of the system, the indoor powered traction device comprises one or more of the following: wheels, tracks, treads, tires, rollers, brushes, rims, walking legs, and combinations thereof. The outdoor powered traction device may comprise a first wheel module comprising a plurality of outdoor wheels. The first wheel module may comprise a first cluster axis and a pair of first cluster arms rotatable about the first cluster axis, and the multiple outdoor wheels may be rotatable about a member axis fixed to the pair of first cluster arms, and one or more motors may be configured and capable of rotating the first cluster arms about the first cluster axis to cause the first wheel module to go up or down curbs or steps. The indoor power traction device may comprise a second wheel module comprising a plurality of indoor wheels. The second wheel module may comprise a second cluster axis and a pair of second cluster arms rotatable about the second cluster axis, and the multiple indoor wheels may be rotatable about a member axis fixed to the pair of second cluster arms, and one or more motors may be configured and capable of rotating the second cluster arms about the second cluster axis to cause the second wheel module to go up or down steps. This system may include one or more items that are kept inside the receptacle, such as home dialysis supplies kept inside the receptacle.

[0052]

[0078] According to one or more embodiments, a method for delivering goods is provided. The method may comprise loading one or more AGVs, including a first autonomous ground vehicle (AGV), onto a delivery vehicle. The first AGV may comprise a receptacle, a powered traction device, a motor, and a computing system having a processor and memory for controlling the motor and powered traction device to enable autonomous driving. The method may comprise activating one or more sensors of the first AGV that communicate with the computing system. The method may comprise activating a navigation system that communicates with the computing system. The method may comprise loading one or more goods for delivery onto the receptacle of the first AGV. The method may comprise driving the delivery vehicle to an AGV drop-off location and unloading the first AGV from the delivery vehicle. The method may comprise instructing the computing system to drive along a delivery route from the AGV drop-off location to the entrance of a residence, based on coordinates communicated to the computing system. This method may involve determining coordinates for communication with a computing system by using multiple sensors, navigation systems, or a combination thereof. The coordinates can be preloaded into memory.

[0053]

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

[0054]

[0080] The method may involve using a first AGV equipped with an identification tag. The dwelling may include a reader configured to read the identification tag. The reader may read the identification tag and send a signal. The signal may be capable of unlocking an entrance, signaling to open an entrance, or both. The reader may read the identification tag using radio frequency transmission. The method may involve using a powered traction device for the first AGV, which may include a first wheel module equipped with a plurality of outdoor wheels and a second wheel module equipped with a plurality of indoor wheels. The method may involve switching the first AGV between an outdoor configuration and an indoor configuration, wherein the first wheel module is deployed from the first AGV so that the plurality of outdoor wheels engage with an outdoor surface, and the second wheel module is retracted so that the plurality of indoor wheels are raised above the outdoor surface. In the indoor configuration, a second wheel module is deployed from the first AGV so that multiple second wheels engage with the interior surface of the dwelling, and the first wheel module is retracted so that multiple outdoor wheels rise above the dwelling surface.

[0055]

[0081] The computing system may instruct the first AGV to travel a return route once it determines that one or more items have been retrieved from the receptacle. The return route may consist of a path from the residence to a meeting point where it meets the delivery vehicle. The coordinates of the return route may be loaded into memory or preloaded. The coordinates may be communicated wirelessly to the computing system. The coordinates may be determined by the computing system using multiple sensors, a navigation system, or a combination thereof. The return route may include at least an indoor route, an entrance route, or both in reverse. The computing system may instruct the first AGV to switch from an indoor configuration to an outdoor configuration between traveling in the reverse direction of the indoor route and traveling in the reverse direction of the entrance route. The delivery vehicle may be an autonomous truck.

[0056]

[0082] "Indoor drop-off location" as used herein means any designated location within a residence where one or more delivery items can be delivered, unloaded, and left. "AGV drop-off location" as used herein means any designated location outside a residence where a robotic delivery vehicle drops off one or more AGVs that will then travel to the residence. An AGV drop-off location may also, as used herein, mean a designated location outside a residence where a robotic delivery vehicle drops off one or more non-autonomous delivery robots. "Meeting location" as used herein means any designated location outside a residence where a delivery vehicle meets one or more AGVs or other delivery robots to distribute items to one or more delivery robots going to deliver to the residence, or to pick up one or more delivery robots and return to a home base such as a warehouse. "Residence" as used herein means the home of a home dialysis patient, or any building where a dialysis patient user spends a significant amount of time, and may include hospitals, nursing homes, workplaces, dormitories, or prisons. As used herein, "wheel module" means any group of wheels used together to traverse the ground or a surface, whether the wheels are physically joined together, have cluster arms, are physically separated from one another, are driven together, or are driven separately.

[0057]

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

[0058]

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

[0059]

[0085] Delivery robots or AGVs can be sized and molded to be traversable on standard sidewalks or roads and to fit within doorways or other access points, for example, within the dwelling of a home dialysis patient. A delivery robot may have one or more receptacles, for example, including receptacles of different sizes. Various receptacles can be swapped, added, removed, replaced, or exchanged, thereby allowing the delivery robot to carry loads of various supplies. In various implementations, weatherproofing techniques can be used to protect the functionality of the delivery robot and any of its operating components, such as receptacles, user interfaces, power traction devices, computing systems, and antennas. The delivery robot may further include a computing system that controls the operation of the delivery robot, such as routing, charging, navigation, communication, sensors, item engagement features, configuration, and reconfiguration.

[0060]

[0086] Various sensors can be installed on delivery robots. For example, sensors can be installed on the front, rear, top, bottom, sides, or combinations thereof of the delivery robot. The sensors may be of various types and may include different types of sensors. In general, specific sensors may be used to assist the delivery robot with navigation, object detection and avoidance, configuration, loading, and unloading. For example, sensors may include imaging sensors, laser sensors, distance sensors, thermal sensors, obstacle sensors, light sensors, curb sensors, and step sensors. Distance sensors may be used to measure and monitor the distance between the delivery robot and other objects such as obstacles, roadways, robotic delivery vehicles, other delivery robots, thresholds, gates, fences, or doorways. The delivery robot and network may include arrays of sensors used to assist various functions of the delivery robot.

[0061]

[0087] A delivery robot may include a power source, such as a power module. In certain embodiments, the power module may be detachably mounted on the delivery robot. The power module may take the form of a battery, solar cells, a gas-powered engine, a supercapacitor, a fuel cell, an alternative power source, or a combination thereof. The power module may be coupled to the delivery robot computing system and motors, as well as any other attached input / output devices, and supply them with power. The power module may store energy to maintain a corresponding energy level. In various implementations, the stored energy level of the power module may be recharged by various techniques. For example, when the delivery robot is in a docking station, such as in a residence, robotic delivery vehicle, or warehouse, the delivery robot may engage with a charging component configured to recharge the power module. As another example, the delivery robot may utilize other recharging techniques in addition to or alternative to this, such as being recharged by solar panels using sunlight. In addition, in some implementations, the power module may be configured to be autonomously detached and / or replaced with another power module while the delivery robot is in a docking station or power station.

[0062]

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

[0063]

[0089] The delivery robot computing system may maintain information regarding whether the delivery robot's receptacles are full, empty, damaged, partially loaded, or partially unloaded. The delivery robot computing system may include items, access codes, or other identifiers necessary to open, close, lock, or unlock the receptacles. The delivery robot computing system may store, download, stream, or program any other information necessary to maintain and operate the delivery robot. The delivery robot computing system may lock and unlock one or more receptacles, activate or deactivate sensors, etc. The delivery robot may be configured to retrieve information from remote computing resources. The delivery robot may be configured to operate primarily as a standalone unit with limited external communications for receiving, providing, ordering, installing, delivering, and transferring information, codes, signals, commands, and programs. A delivery robot computing system may include a wireless connection configured to provide wired and / or wireless network connectivity to, for example, a computing system in a user device, a remote computing system, a robotic delivery vehicle, a warehouse, a charging station, or a supply storage facility. The wireless connection may be implemented using a wireless antenna capable of providing both receiving and transmitting functions.

[0064]

[0090] The delivery robot may also include a user interface. The user interface may be configured to receive and provide information to the user of the delivery robot. The user interface may include, but is not limited to, a display such as a touchscreen display, a scanner, a keyboard, a keypad, a biometric scanner, an audio transducer, one or more speakers, one or more microphones, one or more image capture sensors such as a video camera, and any other type of input or output device that can support interaction between the delivery robot and the user. In certain embodiments, the user interface may be eliminated, and control of the delivery robot is provided primarily remotely. For example, to access a receptacle, the user may send a text message to a remotely located centralized control system, such as a central management system, or reply to a text message from there. The central management system may control the delivery robot to unlock and / or open the receptacle door so that a user, loader, or home dialysis patient can retrieve delivered items from the receptacle or place recyclable, biohazardous, or waste items inside the receptacle. In various implementations, delivery robots may have the ability to directly receive such signals from user devices such as smartphones, smartwatches, tablet computers, smart speakers, or other devices. A user device could be, for example, a device located within the user's home that provides a signal to open a receptacle.

[0065]

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

[0066]

[0092] In certain embodiments, the delivery robot includes a locator device configured to assist in finding the delivery robot, for example, when a robotic delivery vehicle is looking for a delivery robot to load or unload goods or supplies, or to pick up the delivery robot. The locator device may also be used when a recipient wants updates on the delivery robot's location, for example, to obtain an estimated time of arrival (ETA). For example, the locator device may wirelessly transmit electronic signals that enable tracking and / or otherwise determining the location of the delivery robot. The location may then be displayed on a display or screen, for example, a smartphone, computer, smartwatch, or monitoring station. As another example, the locator device may emit various sounds, activate lights, vibrate, or sound a buzzer. Such signals may be used to assist a carrier or loader that needs to determine which delivery robot is the correct one to load specific goods, in cases where goods are being delivered to multiple delivery robots. In certain embodiments, the locator device may be controlled by a delivery robot computing system or central management system, for example. The delivery robot may also include radio frequency identification (RFID) tags, printed circuit boards, or any other objects or mechanisms that can be detected by, for example, a delivery vehicle, a delivery driver, or an access point to a patient's residence, and can be used to identify the AGV(s).

[0067]

[0093] Delivery robots may be convertible from an outdoor configuration to an indoor configuration, for example, from outdoor wheels to indoor wheels, and vice versa. By changing from an outdoor powered traction device to an indoor powered traction device before entering a dwelling, the delivery robot will not bring water, snow, mud, or lawn or garden debris such as grass, soil, mud, leaves, sand, animal excrement, stones, or clay into the dwelling. When wheels are used as powered traction devices, outdoor wheels may be larger than indoor wheels so that they can achieve better traction and navigate outdoor terrain better. On the other hand, indoor wheels can be smaller and move more smoothly than larger wheels, and can navigate indoor paths and indoor floors better. For example, outdoor wheels may include large rubber pneumatic tires, while indoor wheels may have smaller, solid plastic or rubber wheels or rollers.

[0068]

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

[0069]

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

[0070]

[0096] In certain embodiments, a shield may cover a wheel module to prevent soil from falling onto or being removed from the wheel module when either the first or second wheel module is retracted into the frame. The shield may hang from, move over, enclose, house, or otherwise cover the wheel module or other powered traction device. The shield may be a single-piece structure or may comprise multiple parts, such as two doors, multiple overlapping arc or circular components, or a rotatable cylinder with side openings.

[0071]

[0097] The shield may comprise any suitable material, such as plastic, metal, cloth, textile, or wood. The shield may be moved by a stepper motor, gear system, hydraulic lift, or a combination thereof. The shield may include or have an absorbent material or layer, such as a disposable absorbent rug or wipe. In an exemplary embodiment, when the delivery robot is approaching the dwelling in its outdoor configuration, the shield prevents the indoor wheels from becoming soiled or wet. When the delivery robot converts to an indoor configuration and enters the dwelling, the shield may then be moved to a predetermined position to prevent water, mud, snow, or grass or garden debris or waste from being brought into the dwelling or detached from the outdoor wheels and falling onto the carpet or floor inside the dwelling.

[0072]

[0098] In certain embodiments, the first and second wheel modules are pivotably coupled together to form an L-shape, or pivotably coupled to a frame. One or more motors pivot the first wheel module relative to the second wheel module and the second wheel module relative to the first wheel module. When the wheel modules are used as an exemplary power traction device, in an outdoor configuration, the first wheel module is substantially horizontal and the outdoor wheel engages with the ground, while the second wheel module is raised to a substantially vertical position with the indoor wheel raised above the ground. To convert from an outdoor to an indoor configuration, one or more motors pivot the second wheel module downward relative to the first wheel module, so that each of the first and second wheel modules is placed horizontally on a surface. At a dwelling threshold, the outdoor or first wheel module has a wheel that contacts the outdoor surface, and the indoor or second wheel module has a wheel that contacts the indoor surface. Next, one or more motors pivot the first wheel module upward relative to the second wheel module, thereby raising the first wheel module so that its outdoor wheel is above ground level and in a substantially vertical position. To convert from an indoor to an outdoor configuration, one or more motors pivot the first wheel module downward relative to the second wheel module, thereby making each of the first and second wheel modules horizontal and in contact with their respective outdoor and indoor surfaces, and straddling thresholds. Next, one or more motors pivot the second wheel module upward relative to the first wheel module, thereby raising the second wheel module so that its indoor wheel is above ground level and in a substantially vertical position.

[0073]

[0099] In such embodiments, the receptacle may be pivotably connected to the frame by a pivot arm. The pivot arm may allow the receptacle to shift from being positioned on a first wheel module to being positioned on a second wheel module when the delivery robot is converting from an outdoor configuration to an indoor configuration. The pivot arm may also allow the receptacle to shift back when the delivery robot is converting from an indoor configuration to an outdoor configuration. For example, in an outdoor configuration, the pivot arm may be positioned at an angle toward the first wheel module such that the receptacle is positioned on the first wheel module and rests on a frame above the first wheel module. While the delivery robot is being converted, one or more motors pivot the pivot arm from being angled toward the first wheel module to being angled toward the second wheel module while both the first and second modules are positioned horizontally. A pivot axis or pivot point may be located in the center of one or both sides of the receptacle, thereby ensuring that the contents of the receptacle remain horizontally oriented throughout the conversion. The receptacle may pivot relative to a pivot arm, thus allowing it to maintain a horizontal position without damaging the articles within it while the configuration conversion is taking place.

[0074]

[0100] One or more shields may be provided to prevent water or soil from falling from the outdoor wheels or powered traction device while the delivery robot is in an indoor configuration inside a residence. One or more shields may also protect the indoor wheels from being exposed to or accumulating water, mud, snow, dust, soil, or other lawn or garden debris while the delivery robot is in an outdoor configuration outdoors. For example, an indoor wheel shield may be provided to protect the indoor wheels, configured to cover multiple indoor wheels from the top of a second wheel module while the delivery robot is in an outdoor configuration. When the delivery robot is converted from an outdoor configuration to an indoor configuration, one or more motors may pivot the indoor wheel shield to a retracted position so that it does not obstruct the movement of the delivery robot. The outdoor wheel shield may be in a retracted position in the outdoor configuration, but when the delivery robot is converted from an outdoor configuration to an indoor configuration, the outdoor wheel shield can be pivoted by one or more motors to cover multiple outdoor wheels from the bottom of the first wheel module, preventing water or soil from falling from the outdoor wheels onto the floor inside the residence.

[0075]

[0101] The delivery robot may include other components to keep it away from or protect it from outdoor elements. For example, the delivery robot may include a retractable cover, such as a retractable umbrella, to protect it from rain. The cover or umbrella may be detached from the delivery robot at the entrance to the dwelling. The delivery robot may further include a blower jet to repel water or dry the delivery robot before it enters the dwelling.

[0076]

[0102] First and second powered traction devices, for example, a first wheel module and a second wheel module, may be capable of climbing over steps, curbs, and other potential obstacles. Components, machines, systems, and methods relating to the art of climbing steps that can be used in or as part of the present invention include those described in U.S. Patent No. 6,311,794B1 by Morrell et al., U.S. Patent No. 6,571,892B1 by Kamen et al., and U.S. Patent Application Publication No. 2018 / 0244327 by Liivik et al., each of which is incorporated herein by reference in whole.

[0077]

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

[0078]

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

[0079]

[0105] In exemplary embodiments, the powered traction device may include outdoor and indoor tracks. The outdoor track may include a first pair or more outdoor gears or wheels on a first side of the frame and a second pair or more outdoor gears or wheels on a second side of the frame. The first annular outdoor track may be stretched over the first pair of outdoor gears or wheels, and the second annular outdoor track may be stretched over the second pair of outdoor gears or wheels. The indoor track may include a first pair or more indoor gears or wheels on a first side of the frame and a second pair or more indoor gears or wheels on a second side of the frame. The first annular indoor track may be stretched over the first pair of indoor gears or wheels, and the second annular indoor track may be stretched over the second pair of indoor gears or wheels. The outdoor tracks, indoor tracks, or combinations thereof may be configured to ascend stairs, steps, or curbs, etc. Components, machines, systems, and methods relating to tracked technology that can be used in or as part of the present invention include those described in U.S. Patent Application Publication 2020 / 0283080A1 by Rudakevych et al., U.S. Patent Application Publication 2012 / 0185115A1 by Dean, U.S. Patent Application Publication 2010 / 0152922A1 by Carlson et al., and U.S. Patent Application Publication 2008 / 0265821A1 by Theobald, each of which is incorporated herein by reference in whole.

[0080]

[0106] For example, in a warehouse, a central management system may be used to plan orders and fill delivery vehicles with orders. The central management system may be used to transport delivery robots to drop-off or merge locations where they will either drop off or merge. The drop-off or merge locations may be used to transport goods to user-specified delivery locations, such as homes or other residences. The central management system may include a computing system, such as a server, which can be used in the implementations described herein. The server may include a processor, such as one or more redundant processors, a video display adapter, disk drives, input / output interfaces, network interfaces, and memory.

[0081]

[0107] A robotic delivery vehicle may be a car, truck, van, train, robot, commercial transport vehicle, or any large commercial vehicle having a cargo area large enough to hold and transport at least one delivery robot. The delivery vehicle may be an autonomous vehicle, a non-autonomous vehicle, or a human-driven vehicle. A delivery robot may be assigned to or paired with each delivery vehicle. The delivery vehicle may carry delivery robots by including a number of docking stations, each docking station corresponding to each delivery robot to be transported by the delivery vehicle. Each docking station may include a charging component for charging each delivery robot. In certain embodiments, each docking station may further include a cleaning component such as brushes and nozzles for dispensing a cleaning solution to a powered towing device, a number of outdoor wheels, or a number of indoor wheels, etc., and for cleaning the rest of the delivery robot.

[0082]

[0108] Delivery robots can also be deployed directly from train cars along established rail lines to reduce long-distance transport costs compared to the use of conventional trucks. The delivery robots may first leave the warehouse and travel to a junction to join the train. The train may then travel to a delivery robot drop-off point, where the robots disembark and travel to their respective homes. The delivery robots can travel along roads to more remote and less densely populated areas. For longer journeys where battery power may become insufficient, the delivery robots may stop, for example, autonomously, at one or more designated charging stations along the way. This would enable even very remote home dialysis patients to receive deliveries of supplies and thus gain access to home dialysis capabilities.

[0083]

[0109] In certain embodiments, the goods to be delivered are loaded onto a delivery robot in a warehouse. In such embodiments, each delivery robot may be pre-programmed with delivery locations and routes corresponding to the residences to which the goods are delivered. The delivery robot can then be loaded onto a delivery vehicle. Alternatively, the goods to be delivered may be loaded onto a separate delivery vehicle from the delivery robot. In such embodiments, the goods to be delivered may include an address, such as a packing slip typically used to mail the goods, or a computer-readable code such as a barcode, two-dimensional barcode, QR code®, or RFID, or other identifier that identifies the location of the residence to which the goods are delivered. The delivery robot may be capable of reading the identifier using a scanner or reader, or alternatively, it may be suitable for allowing the delivery robot to manually input the identifier, for example, using a user interface. Input may occur when the goods to be delivered are loaded onto the delivery robot's receptacle by a delivery person. The delivery vehicle may travel to a delivery robot drop-off location, open its cargo door, and lower its ramp, thereby allowing the delivery robot to unload from the delivery vehicle and travel to its respective residence.

[0084]

[0110] In certain embodiments, the delivery robots are stationed at each residence and move out to meet the delivery vehicle carrying the goods, for example, by moving to a curb or the edge of a driveway. For example, each delivery robot may dock at a docking station located at the residence. The home docking station may also include charging and cleaning components. The delivery vehicle may be deployed from the warehouse with only the goods to be delivered, without the delivery robot. The delivery robot may receive a notification indicating that the delivery vehicle is expected to arrive at a designated meeting point at a specific time. The delivery robot may automatically travel from the docking station to the meeting point.

[0085]

[0111] As another example, various types of sensors, such as image sensors or sound sensors, may be used to determine when a delivery vehicle is approaching an area. In response to the approaching delivery vehicle, a delivery robot may move out to a meeting point to receive goods from the delivery vehicle. In an exemplary configuration, a start travel time may be established for the delivery robot to begin moving toward the meeting point so that it can arrive before the delivery vehicle. The determination of the start travel time may be based at least in part on the estimated time when the delivery vehicle is expected to arrive at the meeting point. Once the delivery vehicle reaches the designated meeting point, the goods may be transferred to a specific delivery robot for delivery to an indoor drop-off location, for example, in the residence of a home dialysis patient, or otherwise retrieved thereby. It will be understood that by picking the goods directly from the delivery vehicle's storage area and then further transporting the goods using a delivery robot, it may be unnecessary to pack the goods into shipping packages. In addition, packing labels, which are typically included on shipping packages, can be attached directly to the goods, for example, by stickers on the goods. Packing labels may be printed in the delivery vehicle, printed or created by a delivery robot when the goods are collected, or otherwise made available. In other examples, goods that are pre-packaged, fragile, or require additional protection before transport may be packed in the shipping package.

[0086]

[0112] In various implementations, different types of techniques can be used for a delivery robot to receive goods for delivery. For example, a delivery robot and / or delivery vehicle may include an item engagement mechanism, such as a robotic arm, on the delivery vehicle for engaging with the goods to be received by the delivery robot. The robotic arm may place the goods into the delivery robot's receptacle. In another example, a delivery person operating a delivery vehicle may take the goods from the delivery vehicle and place them into the delivery robot's receptacle. Once the goods are placed in the receptacle, the receptacle may be locked or otherwise secured to safely transport the goods to an indoor drop-off location.

[0087]

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

[0088]

[0114] A delivery robot may traverse different routes depending on the different configuration of the delivery. For example, a delivery robot may be dropped off and / or picked up by a delivery vehicle. “Delivery route” as used herein refers to the route a delivery robot travels and may include any route from the robot delivery vehicle to the indoor drop-off location. A delivery route may include a road route, an entrance route, an indoor route, or any combination thereof. “Return route” as used herein refers to the route a delivery robot travels and may include any route from the indoor drop-off location back to the delivery vehicle, but is not limited to these, such as the reverse of an indoor route, an entrance route, a road route, or any combination thereof.

[0089]

[0115] In certain embodiments, the robotic delivery vehicle may travel directly to the front of the residence, and the delivery robot may travel along a delivery route that includes an entrance route. Alternatively, the robotic delivery vehicle may drop off multiple delivery robots at one or more delivery robot drop-off locations, and at least one delivery robot may travel along a delivery route that includes a road route and an entrance route. The road route may include the route from the delivery vehicle to the residence of the intended recipient. In various implementations, the route, instructions, and / or information of the road route may be received by the delivery robot, determined by the delivery robot, or a combination thereof. The road route may be calculated or derived from an onboard computing system, onboard sensors, an onboard global positioning system, a central management system, the robotic delivery vehicle, remote computing resources, or a combination thereof. As part of movement along the road route, one or more motors of the delivery robot may be controlled, for example, by the delivery robot computing system to navigate the delivery robot along the road route to the front of the residence to deliver the goods. The delivery robot may include one or more sensors to determine whether it encounters any obstacles along the road route. If an obstacle is encountered, the route to the residence may be altered to avoid the obstacle. In addition to altering the route to avoid obstacles, a decision may also be made regarding whether any openable access barriers, such as openable doors or gates, have been encountered. If an openable access barrier is encountered, it may be opened to allow the delivery robot to move through it. Once the obstacle and / or access barrier has been passed, the delivery robot can continue moving along the route, and if additional obstacles and / or access barriers are encountered, the above process may be repeated. Once the delivery robot has passed any remaining obstacles and / or access barriers while continuing to move along the route, the delivery robot will arrive at the threshold of the residence entrance.

[0090]

[0116] When a delivery robot arrives in front of a residence, it travels along an entrance route. The entrance route is, for example, the route from the road in front of the residence to the entrance of the residence. The route, instructions, and / or information of the entrance route may be received by the delivery robot, determined by the delivery robot, or a combination thereof. The route, instructions, and / or information of the entrance route may be received or determined by an onboard computing system, onboard sensors, an onboard global positioning system, a central management system, a delivery vehicle, remote computing resources, or a combination thereof. In certain embodiments, the computing system of the delivery robot may receive video data indicating a demonstration route for navigating the location. Other types of sensor data representing the demonstration route may also be received, including global positioning system (GPS) data and inertial measurement unit (IMU) data. By processing video data to identify acceptable surfaces of the demonstration route, such as paved or unpaved sidewalks, roadways, curbs, and steps, the computing system can develop a navigation route that allows the delivery robot to follow the same overall route (entrance route) as the demonstration route, while also considering differences from the demonstration route when necessary. In certain embodiments, the computing system can develop a navigation route for the delivery robot to follow at a given location by analyzing data provided by a user, such as home dialysis patients and the intended recipients of the package. For example, a user may input waypoints to the delivery robot or set up route beacons or markers that the delivery robot can detect and follow, such as RFID tags, RFID readers, barcodes, 2D barcodes, visual reflectors, lights, painted markers, and combinations thereof. Voice recognition technology can be used so that the delivery robot can recognize and follow voices to create a route.Data acquired by the delivery robot regarding the entry route may be stored in memory for returning from the residence to the road and / or for future deliveries.

[0091]

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

[0092]

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

[0093]

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

[0094]

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

[0095]

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

[0096]

[0122] In certain embodiments, a computing system may develop a navigation route for a delivery robot to follow in a given location by analyzing data provided by a user, the user being the intended recipient of an item or package, or another person or entity. For example, the user may input waypoints to the delivery robot, set up route beacons or markers that the delivery robot can detect and follow, and / or use voice recognition technology that the delivery robot recognizes and follows to create a route. Illustrative beacons and markers may include RFID tags, RFID readers, barcodes, 2D barcodes, visual reflectors, lights, painted markers, and combinations thereof. Data acquired by the delivery robot regarding indoor routes may be stored in memory, for example, to facilitate returning to the entrance or to facilitate future deliveries.

[0097]

[0123] The delivery of goods or packages to an indoor drop-off location can be carried out by a variety of procedures. For example, an item engagement mechanism, such as a robotic arm of a delivery robot or a robotic arm at the delivery location, may be used to retrieve the goods or packages from the receptacle of the delivery robot and place them at the indoor drop-off location. The indoor drop-off location may be in a corner of a room, on the floor, on a counter, or inside a refrigerator.

[0098]

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

[0099]

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

[0100]

[0126] The delivery robot may send signals to a robotic delivery vehicle, a different robotic pickup vehicle, or a central management system for the delivery robot. The signals may indicate that the delivery robot is ready to be picked up and may include information about a location where the robotic delivery or pickup vehicle can automatically pick up the delivery robot, such as a curbside or the edge of a driveway. Alternatively, the delivery robot may travel back to the delivery vehicle at a delivery robot drop-off location, or the delivery robot and the robotic delivery or pickup vehicle may meet at a different meeting point than the delivery robot drop-off location. The delivery robot may be configured to charge at an in-house charging station until the robotic delivery or pickup vehicle is within range for pickup, or until the delivery robot battery is sufficiently or fully charged.

[0101]

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

[0102]

[0128] The present invention is particularly useful for the delivery of dialysis supplies, such as disposable components, saline solution, and chemicals, required for use with home dialysis machines. Patients with impaired or non-functioning kidney function are highly dependent on regular hemodialysis, hemodiafiltration, or peritoneal dialysis. Home dialysis has been shown to significantly improve the removal of waste products from the body, improve health status, and reduce the need for medication. This is mainly due to the fact that patients can increase dialysis time by performing dialysis more frequently than the typical three times a week. For example, a patient can increase dialysis time by performing dialysis daily. However, home dialysis machines utilize a number of disposable components, such as adsorbent cartridges, dialyzers, tubing, and other disposable items, as well as chemicals and saline solution. Such disposable items are described, for example, in U.S. Patent Application Publication 2011 / 0315611A1 by Fulkerson et al., which is incorporated herein by reference in its entirety.

[0103]

[0129] Previously, home dialysis supplies were delivered to users' homes once a month, occupying a significant amount of space within their homes. This invention enables more frequent deliveries of supplies, for example, twice a month, three times a month, once a week, twice a week, three times a week, or more. Consequently, fewer disposable items and liquids need to be delivered with each delivery, and less storage space is required within the home. As mentioned above, another advantage is that separate indoor and outdoor powered traction devices, such as wheels, prevent soiling of the home as a result of deliveries. Furthermore, this invention enables delivery to patients in remote areas, reduces product damage and cargo loss, reduces waste, creates a predictable environment for production and warehousing operations, and enhances convenience for delivery recipients. In addition, the delivery robots and network can operate completely autonomously, providing further safety, minimizing the spread of bacteria from person to person, eliminating waiting times for robotic delivery and pickup vehicles, eliminating human error in dispensing and loading onto delivery robots, and providing battery charging while waiting for robotic delivery or pickup vehicles, maximizing resources.

[0104]

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

[0105]

[0131] In the outdoor configuration, the first wheel module 121 is substantially horizontal, and the outdoor wheel 122 engages with an outdoor surface such as the ground, road, driveway, or sidewalk. Simultaneously, the second wheel module 123 is raised to a substantially vertical position, as shown in Figure 1A, with the indoor wheel 125 raised above a horizontal plane such as the ground. To convert from the outdoor configuration to the indoor configuration, the motor 132 pivots the second wheel module 123 downward relative to the first wheel module 121 via the pivot connection 108, so that each of the first wheel module 121 and the second wheel module 123 is positioned horizontally, as shown in Figure 1B. The conversion may occur at the threshold 180 of the doorway 190 such that the first wheel module 121 remains outside the dwelling, while the second wheel module 123 pivots downward to contact the horizontal surface inside the dwelling, such as an entryway floor, carpet, rug, tile floor, ceramic floor, or vinyl floor. The motor 132 then pivots the first wheel module 121 upward relative to the second wheel module 123, thereby moving the first wheel module 121 to a vertical or substantially vertical position, with the outdoor wheel 122 raised above the outdoor horizontal plane, as shown in Figure 1C. The indoor wheel may take the form of a Mecanum wheel to allow omnidirectional movement within the home environment.

[0106]

[0132] To convert from an indoor configuration to an outdoor configuration, the motor 132 pivots the first wheel module 121 downward relative to the second wheel module 123, thereby positioning each of the first and second wheel modules 121 horizontally. The downward pivoting of the first wheel module 121 can also be performed at the doorway 190. The motor 132 then pivots the second wheel module 123 upward relative to the first wheel module 121, thereby positioning the second wheel module 123 substantially vertically and raising the indoor wheel 125 above the horizontal plane inside the door.

[0107]

[0133] The AGV 100 further includes a receptacle 157 pivotally connected to the frame 119 by a pair of pivot arms 129, although the side views in Figures 1A to 1C show only one pivot arm 129. The pivot arm 129 allows the receptacle 157 to shift from being positioned on the first wheel module 121 to being positioned on the second wheel module 123 when the AGV 100 is converted from an outdoor configuration to an indoor configuration. Furthermore, the pivot arm 129 allows the receptacle 157 to shift back to a position on the first wheel module 121 when the AGV 100 is converted from an indoor configuration to an outdoor configuration.

[0108]

[0134] Figure 1A illustrates an outdoor configuration of the AGV 100 and a pivot arm 129 angled so that the receptacle 157 is positioned on the first wheel module 121 and rests on the frame 119. As illustrated in Figure 1B, while the AGV 100 is in an intermediate state between the outdoor and indoor configurations, the motor 132 uses gears and transmission components to pivot the pivot arm 129 from an angled position on the first wheel module 121 (shown in Figure 1A) to an angled position on the second wheel module 123 (shown in Figure 1C). The receptacle 157 can also be pivoted relative to the pivot arm 129 at each pivot point 138 by a pair of motors 133, thus enabling the receptacle 157 to maintain a horizontal position without damaging the items inside the receptacle while the conversion from one configuration to the other is being performed. In the side views shown in Figures 1A to 1C, only one pivot point 138 and one motor 133 can be seen. In the broken or cross-sectional view shown in Figure 1D, the motor 133 on the back and the pivot point 138 on the back are indicated by dashed lines.

[0109]

[0135] Figures 1A and 1C show shields 140, 142 to prevent water, mud, snow, soil, and other lawn and garden debris from falling off the outdoor wheels 122 while the AGV 100 is running inside a residence in an indoor configuration. The shields 140, 142 are also configured to protect the indoor wheels 125 from water, mud, snow, soil, and other lawn and garden debris while running outdoors in an outdoor configuration. Figure 1A illustrates a shield 140 as an indoor wheel shield 140 that covers the indoor wheel 125 from above the first wheel module 123 in an outdoor configuration, protecting the indoor wheel 125. As shown in Figure 1B, when the AGV 100 reaches the threshold 180 of the doorway 190 of the residence, the AGV 100 changes from an outdoor configuration to an indoor configuration. At this time, the motor 132 pivots the indoor wheel shield 140 or moves it to a retracted position so that the indoor wheel shield 140 does not obstruct the movement of the AGV 100.

[0110]

[0136] The shield 142 is in the form of an outdoor wheel shield 142 and extends to an extended position while the AGV 100 is in the outdoor configuration shown in Figure 1A. When the AGV 100 is converted from an outdoor configuration to an indoor configuration, the outdoor wheel shield 142 is pivoted by the motor 132 to a hanging or descending configuration, as shown in Figure 1B, and can then be pivoted or extended to form a catch below the first wheel module 121 and below the outdoor wheel 122, as shown in Figure 1C. Covering the outdoor wheel 122 prevents water, mud, snow, soil, and other lawn or garden debris from falling off the outdoor wheel 122 and onto the interior surfaces of the residence.

[0111]

[0137] AGV100 is also configured to climb over steps, curbs, and other potential obstacles. The first wheel module 121 includes two or more pairs of outdoor wheels 122, each pair mounted on a respective cluster arm 150 on either side of the frame 119. The two or more pairs of outdoor wheels 122 are rotatable about a member axis fixed to the cluster arm 150. The cluster arm 150 rotates about the first cluster axis 152. The second wheel module 123 includes two or more pairs of indoor wheels 125, each pair mounted on a respective cluster arm 156 on either side of the frame 119. The two or more pairs of indoor wheels 125 are rotatable about a member axis fixed to the cluster arm 156. The cluster arm 156 rotates about the second cluster axis 158.

[0112]

[0138] The computing system 110 is capable of independently rotating the cluster arms 150, 156 and the outdoor wheels 122 and indoor wheels 125 using one or more motors 120. Furthermore, sensors 154 on the first wheel module 121 and 160 on the second wheel module 123 are capable of sensing the pitch, roll, and yaw of the AGV 100, as well as variables such as the angular position and / or rotational speed of the outdoor wheels 122 and indoor wheels 125 and the cluster arms 150, 156. Signals from sensor 154 are communicated to the computing system 110 and used by the computing system 110 to drive one or more motors 120 to rotate the cluster arms 150 around the first cluster axis 152 and rotate the outdoor wheels 122, so that the first wheel module 121 can move up or down outdoor curbs, landings, or steps in an outdoor configuration. Similarly, signals from the sensor 160 are communicated to the computing system 110 and used by the computing system 110 to drive one or more motors 120 to rotate the cluster arm 156 around the second cluster axis 158 and rotate the indoor wheel 125, so that the second wheel module 123 can move up and down steps and landings inside the house in an indoor configuration.

[0113]

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

[0114]

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

[0115]

[0141] Figure 2 shows a side view of an AGV200 according to another embodiment of the present invention. In the exemplary embodiment of Figure 2, the AGV200 includes a first wheel module 221 having four outdoor wheels 222 mounted on an axle 224 rotated by one or more motors 220. The first wheel module 221 further includes a pivot arm 219 that pivotably connects the outdoor wheels 222 to the AGV200. The AGV200 also includes a second wheel module 223 having four indoor wheels 225 mounted on an axle 227 rotated by one or more motors 220. The second wheel module 223 further includes a pivot arm 229 that pivotably connects the indoor wheels 225 to the AGV200.

[0116]

[0142] Figure 2 shows the AGV200 in its outdoor configuration, with the outdoor wheel 222 engaged with the ground and the indoor wheel 225 retracted and positioned in a cavity defined at the bottom of the AGV200. To convert from the outdoor to the indoor configuration, the second wheel module 223 unfolds from the bottom of the AGV200 by the downward pivoting motion of the pivot arm 229 from the bottom of the AGV200. The pivoting is performed by one or more motors 220. Once the indoor wheel 225 engages with the ground and supports the AGV200, the first wheel module 221 retracts into the bottom of the AGV200 by the upward pivoting motion of the pivot arm 219 toward the bottom of the AGV200. Once retracted, the outdoor wheel 222 is positioned in its respective cavity defined at the bottom of the AGV200.

[0117]

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

[0118]

[0144] The AGV200 further includes a receptacle 257 for holding articles to be transported by the AGV200. An electronic or manual lock may be provided to secure the articles within the receptacle 257. Various sensors 204 may be mounted on the AGV200, as shown in Figure 2. For example, sensors 204 may be mounted on the front, rear, and sides of the AGV200. Sensors 204 may include imaging sensors and / or distance detection sensors for measuring and monitoring the distance between the AGV200 and other objects. The AGV200 includes a power module 212. The power module 212 is coupled to a computing system 210, one or more motors 220, and any other attached input or output devices, sensors, electronic locks, and other related components, and supplies them with power. In the example in Figure 2, the receptacle 257 of the AGV200 includes a bottom and sides and a door 275 configured to form a cavity in which articles can be stored. The receptacle 257 may include a locking mechanism 277 that is controlled directly or remotely by the AGV computing system 210. The receptacle 257 may also include a presence detection sensor 271, a motion sensor 272, an image capture sensor 273, a temperature sensor 274, one or more other sensors, or a combination thereof. The AGV 200 also includes a user interface 211. The user interface 211 is configured to receive information and provide it to the user of the AGV 200, a programmer, or a home dialysis patient or other intended recipient.

[0119]

[0145] Figure 3 is a block diagram illustrating an exemplary AGV computing system 110 / 210 that can be used according to various embodiments of the present invention. The AGV computing system 110 / 210 can be used in any of the AGV 100 shown in Figures 1A to 1D, the AGV 200 shown in Figure 2, the AGVs shown in Figures 6A to 11, or any other type of AGV in an autonomous or non-autonomous delivery robot as described herein.

[0120]

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

[0121]

[0147] Figures 4 and 5 are schematic diagrams of an exemplary AGV environment 300 that allows a home dialysis patient, other intended recipients, a physician, pharmacist, programmer, or technician (referred to herein as Person 302) to communicate that an item needs to be transported to a residence 308 by an AGV 100 / 200. Once the delivery vehicle 332 reaches the AGV drop-off location or merging location DOL / ML, the AGV 100 / 200 transports the item from DOL / ML to the user-specified residence 308. For example, the AGV 100 / 200 may travel from a home docking station located in the residence or residence 308 to the merging location ML, or it may be dropped off from the delivery vehicle 332 at the drop-off location DOL. In the exemplary configuration, the docking station 335 located in the home dialysis patient's residence, or the docking station on the delivery vehicle 332, may include a charging station, a cleaning station, a maintenance station for servicing components of the AGV 100 / 200, or a combination thereof.

[0122]

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

[0123]

[0149] The remote computing resource 310 may form part of a network-accessible computing platform implemented as a computing infrastructure for processors, storage, software, data access, and other components, maintained and accessible via the network 309. The electronic device 306 may be communicably coupled to the remote computing resource 310 via the network 309. The network 309 may include wired technologies such as electric wires, USB cables and ports, fiber optic cables, Ethernet® cables and ports, and FireWire cables and ports, wireless technologies such as RF transmitters and receivers, cellular components, satellite components, and Bluetooth® components, and / or other connectivity technologies. The network 309 carries data between the electronic device 306 and the remote computing resource 310.

[0124]

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

[0125]

[0151] The central management system 326 may be configured, for example, in a warehouse 330, to plan orders and fill orders into transport vehicles 332 for transport to DOL / ML, where one or more AGVs 100 / 200 are then deployed to the dwelling 308. The transport vehicles 332 and / or one or more AGVs 100 / 200 may be communicably coupled to a remote computing resource 310 via a network 309. For example, communication with the transport vehicles 332 and / or AGVs 100 / 200 may utilize wireless transmitters and receiving antennas on or incorporated within the transport vehicles 332 and AGVs 100 / 200.

[0126]

[0152] The central management system 326 may also be configured to communicate with, for example, the delivery vehicle 332 and / or the AGV 100 / 200. In various implementations, general activities of the delivery vehicle 332 and the AGV 100 / 200, including those related to the planning and execution of the delivery vehicle 332 receiving and transporting goods, or the AGV 100 / 200 acquiring goods and transporting them to indoor drop-off locations, may be coordinated and / or otherwise controlled by the central management system 326. For example, the central management system 326 may receive or determine schedule data for the delivery vehicle 332's movement to the drop-off location or merging location DOL / ML and the movement of the AGV 100 / 200.

[0127]

[0153] AGV100 / 200 may be configured to communicate with other AGV100 / 200s, for example, to receive or send signals, data, or other information. AGV100 / 200 may be configured to communicate with the central management system 326, for example, to receive or send signals, data, or other information. For example, AGV100 / 200 may sense and / or receive movement-related data, including data related to movement conditions, obstacles, routes, route changes, previous routes, or previous routes stored in memory. Movement data sensed and / or collected by AGV100 / 200 may be shared with the central management system 326, other AGV100 / 200s, delivery vehicles 332, people 302, other entities, and combinations thereof. AGV100 / 200 may use this information locally, in combination with other received movement-related data for navigating the current movement path, and in combinations thereof. Such movement-related data can be stored centrally and processed for use in purposes such as creating and updating movement routes, notifying other AGV100 / 200s about the availability and status of specific movement routes, notifying systems and people of specific movement delays, notifying robots, networks, and people about weather conditions, and combinations thereof.

[0128]

[0154] Each of the remote computing resource 310 and the central management system 326 may independently receive tracking data, including GPS coordinate data, relating to the coordinates of, for example, one or more delivery vehicles 332, one or more AGV 100 / 200, one or more residences, one or more warehouses, and combinations thereof. The GPS data may be used for a variety of purposes, such as responding to location status requests and sending notifications regarding the current locations of the delivery vehicles 332 and / or AGV 100 / 200.

[0129]

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

[0130]

[0156] Figure 6A shows a dual-wheel propulsion unit 602 in an outdoor configuration in which the outdoor wheel 616 engages with an outdoor surface. The outdoor wheel 616 may be a larger wheel than the indoor wheel 628 and may include a tread, such as a knobby tire, for traversing outdoor terrain.

[0131]

[0157] Figure 6B shows a dual-wheel propulsion unit 602 in an indoor configuration in which the indoor wheel 628 engages with an indoor surface. The indoor wheel 628 may be a smaller wheel than the outdoor wheel 616 and may be a Mecanum wheel utilizing multiple rollers arranged at angles to one another. A shield 620 is attached to the wheel bracket 608 and surrounds a portion of the outdoor wheel 616 so that the shield 620 covers the outdoor wheel 616 from below when the dual-wheel propulsion unit 602 is in an indoor configuration. The shield 620 captures outdoor debris that may detach from the outdoor wheel 616 and fall, preventing such debris from falling onto the indoor surface. When the AGV is in an outdoor configuration, the indoor wheel 628 can also be covered to prevent water or other debris from getting on the indoor wheel 628 when the AGV is outdoors. Such an indoor wheel cover may include an internal compartment of the AGV, flaps or covers that individually cover each indoor wheel 628, or an umbrella, shroud, or waterproof cloth that covers the entire AGV. Whatever the indoor wheel cover may be, it may be installed and removed manually, automatically, manually and automatically, or automatically and manually. The present invention may also include an air jet to dry the indoor wheel 628 and other parts of the AGV, for example, to dry the indoor wheel 628 immediately before the indoor wheel enters the dwelling.

[0132]

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

[0133]

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

[0134]

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

[0135]

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

[0136]

[0162] When the lift 800 is deployed, the motor rotates a worm drive 818 that pivots a first pair of pivot arms 812 and a second pair of pivot arms 814, extending the lift and driving the base 808 downward. The motor may rotate the worm drive 818 until the feet 820 engage with the outdoor / indoor surface and the AGV rises a distance sufficient to allow full pivoting motion at pivot points 736a and 736b, for example as shown in Figures 7A–7G, enabling wheel replacement. The autonomous system can autonomously calculate operation, motor engagement, worm drive rotation, extension length, and other events, measurements, movements, and parameters of the lift, and may implement sensors to determine, for example, when the lift 800 is properly extended or retracted. Rather than sensing the extension length, it may sense the clearance from the surrounding surface, whether indoor or outdoor. Therefore, autonomous systems can take into account variables such as sinking into soft ground like mud, gravel, pebbles, grass, snow, or sand, inclination due to foreign objects on slopes or surfaces, and wind conditions, which may limit the calculation of a safe center of gravity.

[0137]

[0163] To retract the lift 800, the motor rotates the worm gear 818 in opposite directions, pivoting the first pair of pivot arms 812 and the second pair of pivot arms 814 in opposite directions, thereby lifting the foot 820 away from the outdoor / indoor surface. The AGV may be implemented with one or more lifts 800 for raising and lowering the AGV. For example, two lifts may be used at both ends of the AGV, or four lifts may be used at the four corners of the AGV.

[0138]

[0164] According to various embodiments of the present invention, Figures 9A and 9B show a front view of the AGV900, and Figures 9C and 9D show a side view of the AGV900. The AGV900 includes a plurality of dual-wheel propulsion units 902. In the embodiments shown in Figures 9A to 9D, the AGV900 comprises three pairs of dual-wheel propulsion units 902a, 902b, and 902c. These pairs may include a front pair of dual-wheel propulsion units 902a, an intermediate pair of dual-wheel propulsion units 902b, and a rear pair of dual-wheel propulsion units 902c, as shown in Figures 9C and 9D. Figures 9A and 9B are front views showing only a pair of dual-wheel propulsion units, with their mirror images being comprehensively shown as 902 and 902. Each of the dual-wheel propulsion units 902 is independently coupled to the frame 904 of the AGV900 via a wheel strut 910. Each of the dual-wheel propulsion units 902 includes a wheel bracket 908 pivotably coupled to a wheel strut 910 at a pivot point 936. Each dual-wheel propulsion unit 902 further includes an outdoor wheel 916, an outdoor wheel axle 912, an indoor wheel 928, an indoor wheel axle 924, a dual drive enclosure 940, and a shield 920. The AGV 900 also includes a navigation sensor 944, a receptacle 948, and a protective shroud 952 covering the receptacle 948.

[0139]

[0165] In the outdoor configuration, the wheel brackets 908 are positioned outside each wheel strut 910, thereby aligning with the outside of the AGV 900. The wheel brackets 908 and wheel struts 910 are angled 180 degrees or approximately 180 degrees relative to each other, so that they fold back relative to each other. The wheel brackets 908 are positioned outside the AGV 900, especially in the outdoor configuration, allowing for a wider and more stable stance with a lower center of gravity. This configuration enables the AGV 900 to traverse uneven outdoor terrain with little to no risk of tipping over.

[0140]

[0166] When switched to the indoor configuration, the wheel bracket 908 pivots 180 degrees or approximately 180 degrees downward along the longitudinal axis of the AGV900 and folds back under the AGV900 so that the wheel bracket 908 is located inside the wheel strut 910 and inside the footprint width of the AGV900. The wheel bracket 908 and wheel strut 910 are again 180 degrees or approximately 180 degrees relative to each other, but extend away from each other in the indoor configuration. In this configuration, the AGV900 becomes narrower and can pass through a 30" doorway.

[0141]

[0167] As described above, in the indoor configuration, the wheel bracket 908 and wheel strut 910 extend apart from each other. This configuration raises the AGV 900 to waist height, allowing the recipient 952 to easily retrieve the dialysis supplies 956 from the receptacle 948. The outdoor configuration includes the wheel bracket 908 and wheel strut 910 folded back from each other, so that the AGV 900 is closer to the ground, has a lower center of gravity, and allows the AGV 900 to navigate outdoor terrain better. Thus, it can be seen that there are several advantages to switching between the outdoor and indoor configurations.

[0142]

[0168] Figure 10A shows a side view of AGV1000 according to various embodiments of the present invention. Figures 10B and 10C show a front view of AGV1000. AGV1000 includes a plurality of dual-wheel propulsion units 1002, such as three pairs of dual-wheel propulsion units 1002a, 1002b, and 1002c. The three pairs include a forward pair of dual-wheel propulsion units 1002a, a middle pair of dual-wheel propulsion units 1002b, and a rear pair of dual-wheel propulsion units 1002c. In Figures 10B and 10C, only a pair of dual-wheel propulsion units 1002 and 1002 are shown.

[0143]

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

[0144]

[0170] The AGV1000 can be converted from the indoor configuration shown in Figure 10B to the outdoor configuration shown in Figure 10C by pivoting each dual-wheel propulsion unit 1002 180 degrees or approximately 180 degrees along the respective lateral axis of the AGV1000. As shown in Figures 10B and 10C, the width or height of the AGV1000 remains unchanged when converted from the indoor configuration to the outdoor configuration.

[0145]

[0171] During delivery, the AGV 1000 can be converted from an outdoor configuration to an indoor configuration by traveling to the doorway of a dwelling using the outdoor wheels 1016. Upon reaching the doorway or other threshold of the dwelling, the front pair of dual-wheel propulsion units, for example represented by 1002a, can be lifted, rotated, driven over the threshold into the dwelling, and lowered. Subsequently, the middle pair of dual-wheel propulsion units 1002b can be lifted, rotated, driven over the threshold into the dwelling, and lowered. Finally, the rear pair of dual-wheel propulsion units 1002c can be lifted, rotated, driven over the threshold into the dwelling, and lowered.

[0146]

[0172] To switch from an indoor configuration to an outdoor configuration, the above steps can be reversed. The AGV900 may move in the reverse direction to exit the dwelling and the wheel units may rotate in the reverse direction, or the AGV900 may change orientation within the dwelling and the same sequence of wheel unit rotations may be used, but the outdoor wheels will be positioned below outside the threshold of the dwelling. This configuration restricts the outdoor wheels 1016 to contact only outdoor surfaces and the indoor wheels 1028 to contact only indoor surfaces.

[0147]

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

[0148]

[0174] The AGV 1100 is configured to balance on the rear pair of dual-wheel propulsion units 1102b while the front pair of dual-wheel propulsion units 1102a are raised above an outdoor / indoor surface. The AGV 1100 is also configured to balance on the front pair of dual-wheel propulsion units 1102a while the rear pair of dual-wheel propulsion units 1102b are raised above an outdoor / indoor surface. As a result, the AGV 1100 can traverse curbs, steps, and stairs. For example, the AGV 1100 may lift the front pair of dual-wheel propulsion units 1102a onto a step, and then lift the rear pair of dual-wheel propulsion units 1102b onto the same or subsequent consecutive steps. Similarly, the AGV 1100 may lower the front pair of dual-wheel propulsion units 1102a onto a step, and then lower the rear pair of dual-wheel propulsion units 1102b onto the same or lower consecutive steps.

[0149]

[0175] The AGV 1100 approaches the threshold, lifts the front pair of dual-wheel propulsion units 1102a, and rotates the front pair of dual-wheel propulsion units along the lateral axis so that the outdoor wheels 1116 face upward and the indoor wheels 1128 face downward. The AGV 1100 then moves forward using the rear pair of dual-wheel propulsion units 1102b to partially enter the dwelling, and is then configured to lower the front pair of dual-wheel propulsion units 1102a to the indoor surface. The AGV 1100 then lifts the rear pair of dual-wheel propulsion units 1102b away from the outdoor surface and rotates the rear pair of dual-wheel propulsion units 1102b along the lateral axis so that the outdoor wheels 1116 face upward and the indoor wheels 1128 face downward. Next, the AGV 1110 may travel forward using the forward pair of dual-wheel propulsion units 1102a until the AGV 1110 is fully inside the dwelling, at which point the rear pair of dual-wheel propulsion units 1102b may be lowered to the indoor surface. To change from an indoor configuration to an outdoor configuration, the above steps may be reversed, or the AGV 1100 may be reoriented and the same steps repeated, but the outdoor wheels will come into contact with the outdoor surface. This configurability makes it possible to restrict the outdoor wheels 1116 to contact only outdoor surfaces and the indoor wheels 1128 to contact only indoor surfaces.

[0150]

[0176] Another embodiment of the present invention is shown in Figures 12A and 12B, in which the indoor robot 1210 is completely separate from and not built together with the outdoor robot 1202. The indoor robot 1210 has a plurality of wheels 1214, including four wheels 1214 in the illustrated example. Brakes may be provided on one or more of the wheels 1214. The indoor robot 1210 can be transported in a piggyback manner by the outdoor robot 1202. The outdoor robot 1202 is provided with a plurality of wheels 1204, including four wheels 1204 in the illustrated example. Brakes may be provided on one or more of the wheels 1204. The outdoor robot 1202 has a top surface 1203, and the four wheels 1214 of the indoor robot 1210 are placed on grooves, divots, dimples, notches, or other receiving parts formed in the top surface 1203, for example. The receiving section may be configured to receive and lock one or more of the wheels 1214, or to receive and lock onto the upper surface 1203. The outdoor robot 1202 includes a gate 1206 having a gate surface 1207. The indoor robot 1210 has a front surface 1205. The front surface 1205 may be placed in contact with the gate surface 1207 while the indoor robot 1210 is mounted on the outdoor robot 1202, including, for example, during transport.

[0151]

[0177] As shown in Figure 12B, upon reaching a threshold of a house or other building, the outdoor robot 1202 may stop adjacent to the step 1220, for example, by contacting it. Similarly, the outdoor robot 1202 may stop adjacent to a curb, threshold, or wall. Once stopped, the gate 1206 may open, allowing the indoor robot 1210 to abandon or move away from the outdoor robot 1202 and roll or move directly into the indoor area, for example, by crossing the threshold 1224 into the house. The indoor robot 1210 can move directly from the outdoor robot 1202 into the house or other dwelling or building without its indoor wheels 1214 ever touching an outdoor surface. The indoor wheels 1214 traverse the top surface 1203 of the outdoor robot 1202 and traverse the indoor surface starting from the top surface of the threshold 1224. As illustrated, the gate 1206 may form an inclined section that the wheel 1214 can traverse between exiting the outdoor robot 1202, entering a building, exiting a building, being loaded onto the outdoor robot 1202, or a combination thereof. A drivetrain may be provided to lift or lower the gate, and may include, for example, sensors, motion sensors, proximity sensors, thermal sensors, and combinations thereof as described herein. The drivetrain may be configured to provide emergency reverse drive, for example, to prevent or eliminate undesirable gate contact.

[0152]

[0178] The entire contents of all references cited herein are incorporated herein by reference. Furthermore, where a quantity, concentration, or other value or parameter is given as a range, a preferred range, or a list of preferred upper and lower limits, this should be understood as specifically disclosing all ranges formed by any pair of any upper limit or preferred value and any lower limit or preferred value, whether such ranges are disclosed separately or not. Where a numerical range is described herein, unless otherwise stated, the range is intended to include its endpoint and all integers and fractions within the range. The scope of application of the present invention is not intended to be limited to the specific values ​​described when a range is defined.

[0153]

[0179] All patents, patent applications, and publications referred to herein are incorporated herein in their entirety by reference unless otherwise indicated.

[0154]

[0180] Other embodiments of the present invention will become apparent to those skilled in the art from reference to this specification and the practice of the present invention disclosed herein. This specification and examples are to be considered merely illustrative, and the true scope and gist of the present invention are intended to be shown by the following claims and their equivalents. The invention described in the original claims of this application is listed below. [1] A delivery robot, A drivetrain configured to move the delivery robot and to transform the delivery robot into an outdoor configuration and an indoor configuration, A control unit configured to control the drivetrain based at least on the received signal, A sensor system configured to detect an object and send a signal to the control unit, A supply holder configured to hold supplies and connected to the drivetrain to move with the movement of the drivetrain, Outdoor powered traction device for traversing outdoor surfaces, An indoor powered traction device for traversing indoor surfaces, Equipped with, A delivery robot, wherein the drivetrain is configured to be controlled by the control unit to (1) maintain the indoor powered traction device in a raised position while the outdoor powered traction device traverses an outdoor surface in the outdoor configuration, (2) transform the delivery robot from the outdoor configuration to the indoor configuration, and (3) maintain the outdoor powered traction device in the raised position while the indoor powered traction device traverses an indoor surface in the indoor configuration. [2] The delivery robot according to [1], wherein both the outdoor powered traction device and the indoor powered traction device include a set of wheels, each set of wheels comprising an indoor wheel mounted to rotate on its respective pivot bracket and an outdoor wheel mounted to rotate on its respective pivot bracket. [3] The delivery robot according to [2], wherein each pivot bracket comprises a motor drive configured to pivot the pivot bracket between (1) the outdoor configuration in which the outdoor wheel of each set of wheels is positioned lower than the indoor wheel of each set of wheels, and (2) the indoor configuration in which the indoor wheel of each set of wheels is positioned lower than the outdoor wheel of each set of wheels. [4] The indoor wheel of each set of wheels is a Mecanum wheel, as described in [2], for the delivery robot. [5] The delivery robot according to [1], wherein the delivery robot has a first maximum height in the outdoor configuration and a second maximum height in the indoor configuration, the second maximum height being greater than the first maximum height. [6] The delivery robot according to [1], wherein the delivery robot has a first maximum width in the outdoor configuration and a second maximum width in the indoor configuration, the first maximum width being greater than the second maximum width. [7] The delivery robot according to [1], further comprising a lift, the lift being configured to lift the delivery robot to an elevated position such that both the outdoor powered traction device and the indoor powered traction device are lifted away from the outdoor surface, from the indoor surface, or away from both the outdoor and indoor surfaces, and the delivery robot being configured to move between the outdoor configuration and the indoor configuration while in the elevated position. [8] An autonomous delivery robot, A drivetrain for moving and transforming the autonomous delivery robot, A control unit configured to autonomously control the drivetrain based at least on the received signals, A sensor system configured to detect an object and send a signal to the control unit, A supply holder configured to hold supplies and connected to the drivetrain to move with the movement of the drivetrain, Outdoor powered traction device for traversing outdoor surfaces, An indoor powered traction device for traversing indoor surfaces, Equipped with, An autonomous delivery robot, wherein the drivetrain is configured to be controlled by the control unit to (1) maintain the indoor powered traction device in an elevated position while the outdoor powered traction device traverses an outdoor surface, (2) lower the indoor powered traction device into the house at the threshold while the outdoor powered traction device remains in contact with the outdoor surface outside the threshold to the house, and (3) raise the outdoor powered traction device once it touches the interior surface inside the house, so that the outdoor powered traction device does not touch the interior surface inside the house. [9] The autonomous delivery robot according to [8], further comprising a power supply configured to supply power to the drivetrain.

[10] The autonomous delivery robot according to [9], wherein the power source is a rechargeable battery.

[11] The autonomous delivery robot according to [8], further comprising an outdoor powered traction device shield, wherein the control unit is configured to control the drivetrain to move the outdoor powered traction device shield to a position that shields the outdoor powered traction device after the outdoor powered traction device has been lifted at the threshold of a house and before the autonomous delivery robot passes the threshold and moves into the house.

[12] The autonomous delivery robot according to

[11] , further comprising an indoor powered traction device shield, wherein the control unit is configured to control the drivetrain to move the indoor powered traction device shield to a position that shields the indoor powered traction device before the indoor powered traction device is lowered into the house at the threshold to the house.

[13] The autonomous delivery robot according to [8], further comprising an indoor powered traction device shield, wherein the control unit is configured to (1) move the drivetrain to a position that shields the indoor powered traction device before the indoor powered traction device is lowered into the house at the threshold to the house, and (2) unshield the indoor powered traction device at the threshold so that the indoor powered traction device can be lowered to the interior surface inside the house and make contact with the interior surface.

[14] The autonomous delivery robot according to [8], wherein the supply holder comprises a platform.

[15] The autonomous delivery robot according to [8], wherein the supply holder comprises a clamp.

[16] The autonomous delivery robot according to [8], wherein the supply holder comprises a frame including a motor-driven gate.

[17] The autonomous delivery robot according to [8], further comprising a package for home dialysis supplies, wherein the package for home dialysis supplies is held by a supply holder.

[18] The autonomous delivery robot according to [8], wherein the outdoor powered traction device comprises one or more of the following: wheels, tracks, treads, tires, rollers, brushes, rims, and walking legs.

[19] The autonomous delivery robot according to

[18] , wherein the indoor powered traction device comprises one or more of the following: wheels, tracks, treads, tires, rollers, brushes, rims, and walking legs.

[20] The outdoor powered towing device comprises a set of wheels, the autonomous delivery robot as described in [8].

[21] The indoor powered traction device comprises a set of wheels, the autonomous delivery robot according to [8]. The autonomous delivery robot described in

[22]

[17] , A remote network computer configured to send information, commands, or both to the autonomous delivery robot, Equipped with, A home dialysis supply delivery network, wherein the autonomous delivery robot is configured to autonomously respond to information, commands, or both received from the remote network computer.

[23] The home dialysis supply delivery network according to

[22] , further comprising a robotic transport vehicle, wherein the remote network computer is located on or inside the robotic transport vehicle, and the robotic transport vehicle is equipped with a lift for loading, unloading, or loading / unloading the autonomous delivery robot.

[24] The home dialysis supply delivery network described in

[23] , comprising an autonomous vehicle for the robotic transport vehicle.

[25] The home dialysis supply delivery network according to

[23] , wherein the robot transport vehicle comprises an autonomous truck, the autonomous truck has a truck bed, one or more additional autonomous delivery robots are stored on the truck bed, and the truck bed has additional space available for storing the autonomous delivery robots.

[26] The home dialysis supply delivery network according to

[23] , wherein the robot transport vehicle comprises an autonomous truck, the autonomous truck has a truck bed, the autonomous delivery robot is stored on the truck bed, and one or more additional autonomous delivery robots are also stored on the truck bed.

[27] The home dialysis supply delivery network according to

[23] , wherein the robot transport vehicle comprises an autonomous truck, the autonomous truck has a truck bed, the autonomous delivery robot is stored on the truck bed, and one or more additional autonomous delivery robots are also stored on the truck bed, the autonomous truck comprises a battery charger, and the autonomous delivery robot comprises a rechargeable battery configured to be charged by the battery charger.

[28] The remote network computer is configured to send prescription information relating to home dialysis patients living in their homes, The home dialysis supply delivery network according to

[22] , wherein the autonomous delivery robot is configured to receive prescription information from the remote network computer, to autonomously react to the received prescription information, to load the prescribed home dialysis supplies onto itself based on the received prescription information, and to deliver the prescribed home dialysis supplies to the home dialysis patient at home.

[29] Further equipped with robotic transport vehicles, The robot transport vehicle is equipped with a lift for loading, unloading, or loading / unloading the autonomous delivery robot. The robotic transport vehicle is equipped with a storage unit for home dialysis supplies, which is configured to be used by the autonomous delivery robot to load the prescribed home dialysis supplies onto itself.

[28] Home dialysis supply delivery network as described. The autonomous delivery robot described in

[30] [8], A warehouse equipped with a storage unit for home dialysis supplies, a lift, and a programming computer, the programming computer equipped with a computer interface, Robot transport vehicles and Equipped with, The control unit of the autonomous delivery robot is equipped with memory, The autonomous delivery robot is equipped with a robot interface configured to interface with the computer interface in order to receive command programs from the programming computer, The control unit is configured to store the program of the command received via the robot interface in the memory. A home dialysis supply delivery network, wherein the lift is configured to lift the autonomous delivery robot into the robotic transport vehicle while the autonomous delivery robot holds the load of prescribed home dialysis supplies.

[31] The home dialysis supply delivery network according to

[30] , wherein the autonomous delivery robot is equipped with a power supply for supplying power to the drivetrain, the power supply is equipped with a rechargeable battery, and the warehouse is equipped with a battery charger configured to charge the rechargeable battery.

[32] The home dialysis supply delivery network according to

[30] , wherein the warehouse further comprises an autonomous supply lift, the autonomous supply lift is configured to (1) receive prescription information relating to home dialysis treatment, (2) retrieve prescribed home dialysis supplies from the storage area of ​​the warehouse in fulfilling the prescription information, and (3) load the prescribed home dialysis supplies onto the autonomous delivery robot.

[33] The home dialysis supply delivery network according to

[30] , further comprising one or more additional autonomous delivery robots, each of which is identical to the autonomous delivery robot mentioned first.

[34] Loading prescribed home dialysis supplies onto a first autonomous delivery robot to form a first loaded autonomous delivery robot, The prescribed home dialysis supplies are loaded onto the second autonomous delivery robot to form a second loaded autonomous delivery robot, Loading the first and second loaded autonomous delivery robots onto the robot transport vehicle, At the first location, the first loaded autonomous delivery robot is unloaded from the robot transport vehicle, Moving the robot transport vehicle to the second location while placing the first loaded autonomous delivery robot at the first location, At the second location, the second loaded autonomous delivery robot is unloaded from the robot transport vehicle, The prescribed home dialysis supplies are autonomously delivered from the first loaded autonomous delivery robot to the first house. To form a first unloaded autonomous delivery robot, the cargo is unloaded from the first loaded autonomous delivery robot at the first house, Returning the robot transport vehicle from the second location to the first location, At the first location, the first unloaded autonomous delivery robot is loaded onto the robot transport vehicle, The prescribed home dialysis supplies are autonomously delivered from the second loaded autonomous delivery robot to the second home. To form a second unloaded autonomous delivery robot, the cargo is unloaded from the second loaded autonomous delivery robot at the second house, Returning the robot transport vehicle from the first location to the second location, At the second location, the second unloaded autonomous delivery robot is loaded onto the robot transport vehicle, A delivery method for home dialysis supplies that includes the following features.

[35] Transporting the robot transport vehicle to a warehouse having a storage facility for home dialysis supplies, In the aforementioned warehouse, the first unloaded autonomous delivery robot and the second unloaded autonomous delivery robot are unloaded from the robot transport vehicle, In the warehouse, the prescribed home dialysis supplies are loaded again onto each of the first autonomous delivery robot and the second autonomous delivery robot. A method for delivering home dialysis supplies, as described in

[34] , further comprising the above.

[36] The method for delivering home dialysis supplies according to

[35] , wherein each of the first autonomous delivery robot and the second autonomous delivery robot is equipped with a rechargeable battery, the warehouse is equipped with a battery charger, and the method further comprises charging the rechargeable battery in the warehouse.

[37] A system for delivering goods, One or more AGVs, including a first autonomous ground vehicle (AGV), the first AGV comprising an outdoor powered towing device, an indoor powered towing device, a receptacle configured to hold one or more articles inside, and one or more motors configured to drive the outdoor powered towing device and the indoor powered towing device and to convert the AGV between an outdoor configuration and an indoor configuration. A computing system associated with the first AGV, comprising a processor and memory, The memory stores computer-readable instructions, and these computer-readable instructions are executed by the processor. (1) Driving the first AGV of the outdoor configuration to the entrance of a dwelling associated with the delivery of one or more articles placed in the receptacle, wherein in the outdoor configuration, the outdoor powered traction device is deployed from the first AGV so as to engage with the outdoor surface, and the indoor powered traction device is retracted so as to rise above the outdoor surface. (2) Converting from the outdoor configuration to the indoor configuration at the entrance of the dwelling, wherein in the indoor configuration, the indoor power traction device is deployed from the first AGV so as to engage with the surface of the dwelling, and the outdoor power traction device is retracted so as to rise above the surface of the dwelling. (3) To move the first AGV of the indoor configuration, which is on the surface of the dwelling inside the dwelling, to the indoor drop-off location, A system comprising a computing system configured to instruct the first AGV to perform the following.

[38] The system according to

[37] , further comprising a delivery vehicle, wherein the computing system is configured such that, when executed by the processor, the computer-readable instructions instruct the first AGV to travel from the delivery vehicle to the entrance of the residence.

[39] The system according to

[38] , wherein the first AGV comprises a global positioning system, and the computing system is configured to determine a road route from the delivery vehicle to the residence.

[40] The delivery vehicle comprises an autonomous truck, as described in

[38] .

[41] The system according to

[38] , wherein the first AGV has a rechargeable power module, the delivery vehicle has a docking station, the docking station has a charger, and the charger is configured to charge the power module.

[42] The docking station further comprises a washing station configured to wash at least the outdoor power traction device, according to the system in

[41] .

[43] The computer-readable instruction, when executed by the processor, instructs the first AGV to determine when one or more articles have been removed from the receptacle, (1) In the indoor configuration, travel from the indoor drop-off location to the entrance of the residence, (2) Converting from the indoor configuration to the outdoor configuration at the entrance of the residence, (3) The vehicle is driven in an outdoor configuration so as to return to the delivery vehicle, The computing system is configured to instruct the first AGV to perform the following: The system described in

[38] .

[44] The system according to

[37] , wherein the first AGV comprises one or more sensors, the one or more sensors configured to detect whether the access barrier of the entrance is open, the one or more sensors configured to send an open signal to the computing system when it detects that the access barrier is open, and the computing system is configured to instruct the first AGV to convert from the outdoor configuration to the indoor configuration upon receiving the open signal.

[45] The system according to

[44] , wherein an entrance route from a drop-off location to the entrance is stored in the memory, and an indoor route from the entrance of the residence to the indoor drop-off location is stored in the memory.

[46] The computing system is configured to determine the entrance route and the indoor route from data loaded into the memory, data acquired by one or more sensors, data acquired by the navigation system, data acquired wirelessly from the remote computing system, or a combination thereof, as described in

[45] .

[47] The system according to

[37] , wherein the first AGV comprises an optical sensor.

[48] ​​The system according to

[37] , wherein the first AGV comprises a distance sensor.

[49] The system according to

[37] , wherein the first AGV comprises a proximity sensor directed toward the receptacle and configured to determine whether an article is inside the receptacle.

[50] The system according to

[37] , wherein the dwelling has an access barrier, the access barrier has a lock, the first AGV has an identification tag, the dwelling has a reader configured to read the identification tag, and the lock is configured such that when the identification tag is read by the reader, the lock is unlocked and the access barrier opens.

[51] The system according to

[50] , wherein the identification tag comprises a radio frequency identification (RFID) tag and the reader comprises an RFID reader.

[52] The system according to

[37] , wherein the dwelling is equipped with a remote computing system within the dwelling, the first AGV is equipped with a wireless transmitter, and the computing system is configured to instruct the first AGV to send wireless communications to the remote computing system.

[53] The wireless communication comprises a notification that the first AGV has arrived at the residence or a notification regarding the estimated time of arrival of the first AGV at the residence, as described in

[52] .

[54] The remote computing system is part of a mobile device, a smart doorbell, a smart lock, a smart TV, a smart speaker, or a combination thereof, as described in

[52] .

[55] The system according to

[37] , wherein the outdoor power traction device and the indoor power traction device are pivotably coupled to a frame.

[56] The system according to

[55] , wherein when the first AGV converts from the outdoor configuration to the indoor configuration, one or more motors pivot the indoor power traction device from a raised position to a horizontal position through the entrance so that the indoor power traction device engages with the interior surface of the dwelling, and one or more motors pivot the outdoor power traction device from a horizontal position to a raised position so that the outdoor power traction device is lifted away from the outdoor surface outside the entrance before the first AGV fully enters the dwelling.

[57] The first AGV further comprises a pivot arm that pivotably connects the receptacle to the frame, and one or more motors are configured to pivot the pivot arm such that the receptacle moves from a position above the outdoor power traction device to a position above the indoor power traction device while both the outdoor power traction device and the indoor power traction device are in the horizontal position, the system as in

[56] .

[58] The system according to

[37] , further comprising the first AGV, configured to cover the indoor powered traction device in the outdoor configuration, and at least one shield configured to cover the outdoor powered traction device in the indoor configuration.

[59] The system according to

[58] , wherein the at least one shield comprises a first shield configured to cover the indoor power traction device in the outdoor configuration and a second shield configured to cover the outdoor power traction device in the indoor configuration.

[60] The outdoor powered traction device comprises one or more of the following: wheels, tracks, treads, tires, rollers, brushes, rims, and walking legs, as described in

[37] .

[61] The indoor power traction device comprises one or more of the following: wheels, tracks, treads, tires, rollers, brushes, rims, and walking legs, as described in

[37] .

[62] The outdoor power traction device comprises a first wheel module having a plurality of outdoor wheels, according to the system in

[37] .

[63] The system according to

[62] , wherein the first wheel module comprises a first cluster axis and a pair of first cluster arms rotatable about the first cluster axis, the plurality of outdoor wheels rotatable about a member axis fixed to the pair of first cluster arms, and one or more motors are capable of rotating the first cluster arms about the first cluster axis to cause the first wheel module to go up or down a curb or step.

[64] The indoor power traction device comprises a second wheel module having a plurality of indoor wheels, as described in

[37] .

[65] The system according to

[64] , wherein the second wheel module comprises a second cluster axis and a pair of second cluster arms rotatable about the second cluster axis, the plurality of indoor wheels rotatable about a member axis fixed to the pair of second cluster arms, and one or more motors are capable of rotating the second cluster arms about the second cluster axis to raise or lower the second wheel module.

[66] The system according to

[37] , further comprising one or more articles contained within the receptacle.

[67] A method of delivering goods, Loading one or more AGVs, including a first autonomous ground vehicle (AGV), onto a delivery vehicle, the first AGV comprising a receptacle, a power traction device, a motor, a computing system having a processor and memory for controlling the motor and the power traction device to enable autonomous driving, one or more sensors communicating with the computing system, and a navigation system communicating with the computing system. Loading one or more items for delivery onto the receptacle of the first AGV, The delivery vehicle is driven to the AGV drop-off location, Deploying the first AGV from the aforementioned delivery vehicle, Equipped with, The computing system instructs the first AGV to travel along the delivery route from the AGV drop-off location to the entrance of the residence, based on the coordinates communicated to the computing system. A method in which the coordinates are determined by the computing system using the plurality of sensors, the navigation system, or a combination thereof.

[68] The coordinates are preloaded into the memory as described in

[67] .

[69] The method according to

[67] , wherein the one or more articles comprises a dialysis supply, the dialysis supply comprising a solution bag, a disposable tube set, saline solution, chemicals, a mask, gloves, wipes, or a combination thereof.

[70] The method according to

[67] , wherein the delivery route comprises a road route and an entrance route, the road route comprising a route from the AGV drop-off location to the front of the residence associated with the delivery of the one or more items, and the entrance route comprising a route from the front of the residence to the entrance of the residence.

[71] The method of

[70] , wherein the computing system instructs the first AGV to travel along an indoor route from the entrance of the dwelling to an indoor drop-off location inside the dwelling.

[72] The method according to

[71] , wherein the computing system instructs the first AGV to convert from an outdoor configuration to an indoor configuration between travel along the entrance route and travel along the indoor route.

[73] The method according to

[67] , wherein the first AGV comprises an identification tag, the dwelling comprises a reader configured to read the identification tag, the reader reads the identification tag, sends a signal, the signal unlocks the entrance, the entrance opens, or both.

[74] The method of

[73] wherein the reader reads the identification tag using radio frequency transmission.

[75] The method according to

[73] , wherein the power traction device of the first AGV comprises a first wheel module having a plurality of outdoor wheels and a second wheel module having a plurality of indoor wheels.

[76] The method according to

[75] , further comprising: an outdoor configuration in which the first AGV is deployed from the first AGV such that the plurality of outdoor wheels engage with an outdoor surface and the second wheel module is retracted such that the plurality of indoor wheels are raised above the outdoor surface; and an indoor configuration in which the second wheel module is deployed from the first AGV such that the plurality of second wheels engage with an indoor dwelling surface inside the dwelling and the first wheel module is retracted such that the plurality of outdoor wheels are raised above the dwelling surface.

[77] The method according to

[76] , wherein the computing system, once it determines that the item has been removed from the receptacle, instructs the first AGV to travel along a return route, the return route comprising a route from the residence to a meeting point where it meets the delivery vehicle.

[78] The method according to

[77] , wherein the coordinates of the return path are preloaded into the memory, communicated wirelessly to the computing system, determined by the computing system using the plurality of sensors and the navigation system, or a combination thereof.

[79] The method according to

[77] , wherein the return path is at least in the reverse direction of the indoor path and the entrance path.

[80] The method according to

[79] , wherein the computing system instructs the first AGV to convert from the indoor configuration to the outdoor configuration between travel in the reverse direction of the indoor route and travel in the reverse direction of the entrance route.

[81] The delivery vehicle is an autonomous truck, as described in

[67] .

Claims

1. It is a delivery robot, A drivetrain configured to move the delivery robot and to transform the delivery robot into an outdoor configuration and an indoor configuration, A control unit configured to control the drivetrain based at least on the received signal, A sensor system configured to detect an object and send a signal to the control unit, A supply holder configured to hold supplies and connected to the drivetrain to move with the movement of the drivetrain, Outdoor powered traction device for traversing outdoor surfaces, An indoor powered traction device for traversing indoor surfaces, Equipped with, The drivetrain is configured to be controlled by the control unit to (1) maintain the indoor powered traction device in the raised position while the outdoor powered traction device traverses the outdoor surface in the outdoor configuration, (2) transform the delivery robot from the outdoor configuration to the indoor configuration, and (3) maintain the outdoor powered traction device in the raised position while the indoor powered traction device traverses the indoor surface in the indoor configuration. The delivery robot further comprises an outdoor powered traction device shield, and the control unit is configured to control the drivetrain to move the outdoor powered traction device shield to a position that shields the outdoor powered traction device after the outdoor powered traction device has been lifted at the threshold of the house and before the delivery robot passes the threshold and moves into the house. Delivery robot.

2. The delivery robot according to claim 1, further comprising a lift, the lift being configured to lift the delivery robot to an elevated position such that both the outdoor powered traction device and the indoor powered traction device are lifted away from the outdoor surface, from the indoor surface, or away from both the outdoor and indoor surfaces, and the delivery robot being configured to move between the outdoor configuration and the indoor configuration while in the elevated position.

3. The delivery robot is the delivery robot according to claim 1 or 2, wherein the delivery robot operates autonomously.

4. The delivery robot according to claim 1, further comprising an indoor powered traction device shield, wherein the control unit is configured to control the drivetrain to move the indoor powered traction device shield to a position that shields the indoor powered traction device before the indoor powered traction device is lowered into the house at the threshold to the house.

5. The delivery robot according to claim 1, further comprising an indoor powered traction device shield, wherein the control unit is configured to (1) move the drivetrain to a position that shields the indoor powered traction device before the indoor powered traction device is lowered into the house at the threshold to the house, and (2) release the shield at the threshold so that the indoor powered traction device can be lowered to the interior surface on the inside of the house and come into contact with the interior surface.

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

7. The delivery robot according to claim 3, A warehouse equipped with a storage unit for home dialysis supplies, a lift, and a programming computer, the programming computer equipped with a computer interface, Robot transport vehicles and Equipped with, The control unit of the delivery robot is equipped with memory, The delivery robot is equipped with a robot interface configured to interface with the computer interface in order to receive instruction programs from the programming computer, The control unit is configured to store the program of the command received via the robot interface in the memory. A home dialysis supply delivery network, wherein the lift is configured to lift the delivery robot into the robotic transport vehicle while the delivery robot holds the load of prescribed home dialysis supplies.

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