US 11,869,111 B2
Systems and methods for delivering merchandise using autonomous ground vehicles and unmanned aerial vehicles
Donald R. High, Noel, MO (US); and Noah R. Kapner, Noel, MO (US)
Assigned to WALMART APOLLO, LLC, Bentonville, AR (US)
Filed by Walmart Apollo, LLC, Bentonville, AR (US)
Filed on Dec. 29, 2022, as Appl. No. 18/148,268.
Application 18/148,268 is a continuation of application No. 17/480,595, filed on Sep. 21, 2021, granted, now 11,568,508.
Application 17/480,595 is a continuation of application No. 15/946,167, filed on Apr. 5, 2018, abandoned.
Claims priority of provisional application 62/486,060, filed on Apr. 17, 2017.
Prior Publication US 2023/0153935 A1, May 18, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G06Q 50/28 (2012.01); G05D 1/00 (2006.01); B64C 39/02 (2023.01); G05D 1/02 (2020.01); B64D 1/22 (2006.01); G01C 21/34 (2006.01); B64U 80/86 (2023.01); B64U 101/30 (2023.01); B64U 101/60 (2023.01)
CPC G06Q 50/28 (2013.01) [B64C 39/024 (2013.01); G05D 1/0027 (2013.01); G05D 1/0088 (2013.01); G05D 1/0212 (2013.01); B64D 1/22 (2013.01); B64U 80/86 (2023.01); B64U 2101/30 (2023.01); B64U 2101/60 (2023.01); B64U 2201/20 (2023.01); G01C 21/3415 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system for delivery of merchandise, the system comprising:
an autonomous ground vehicle (AGV) comprising:
a motorized locomotion system configured to facilitate movement of the AGV;
at least one sensor configured to detect obstacles in a direction of travel of the AGV;
a first transceiver configured for wireless communication;
a first control circuit operatively coupled to the motorized locomotion system, the at least one sensor, and the first transceiver, the first control circuit configured to operate and move the AGV;
an unmanned aerial vehicle (UAV) comprising:
a motorized flight system configured to facilitate flight of the UAV;
a second transceiver configured for wireless communication;
a second control circuit operatively coupled to the motorized flight system and the second transceiver, the second control circuit configured to operate and fly the UAV;
a third control circuit configured to:
determine that the AGV has stopped at a stopped location based on the detection of an obstacle by the at least one sensor while attempting to deliver a merchandise item to a delivery location; and
instruct the UAV to deliver the merchandise item from the stopped location to the delivery location.