US 11,704,954 B2
Methods and systems for navigating to a designated shipping location as part of a multi-leg logistics operations using a wireless node network and multiple node-enabled autonomous transport vehicles in the network
Ole-Petter Skaaksrud, Germantown, TN (US); Frank Mayfield, Collierville, TN (US); and Daniel Gates, Memphis, TN (US)
Assigned to FEDEX CORPORATE SERVICES, INC., Collierville, TN (US)
Filed by FEDEX CORPORATE SERVICES, INC., Collierville, TN (US)
Filed on Mar. 13, 2019, as Appl. No. 16/351,681.
Claims priority of provisional application 62/642,732, filed on Mar. 14, 2018.
Prior Publication US 2019/0286152 A1, Sep. 19, 2019
Int. Cl. B25J 9/08 (2006.01); G06Q 10/083 (2023.01); B25J 5/00 (2006.01); B25J 19/02 (2006.01); G05D 1/02 (2020.01); G08G 1/00 (2006.01); G05D 1/00 (2006.01); B60Q 5/00 (2006.01); B60W 10/04 (2006.01); B60W 10/20 (2006.01); G06Q 10/0833 (2023.01); H04B 1/3822 (2015.01); G06Q 10/0836 (2023.01); B25J 9/16 (2006.01); B65G 1/137 (2006.01); B60P 3/00 (2006.01); B60W 30/09 (2012.01); G06F 21/32 (2013.01); G06Q 10/0875 (2023.01); G06Q 30/0601 (2023.01); B65G 67/24 (2006.01); H02J 9/00 (2006.01); B65D 88/52 (2006.01); B65D 90/02 (2019.01); B65D 90/08 (2006.01); B65D 90/18 (2006.01); G06Q 10/0837 (2023.01); B60G 17/015 (2006.01); G06Q 10/0832 (2023.01); G01C 21/34 (2006.01); H04W 52/32 (2009.01); B60C 5/00 (2006.01); G07C 9/37 (2020.01); G07C 9/00 (2020.01); G07C 9/27 (2020.01); G06Q 50/28 (2012.01); H04W 84/20 (2009.01)
CPC B25J 9/08 (2013.01) [B25J 5/007 (2013.01); B25J 9/162 (2013.01); B25J 9/163 (2013.01); B25J 9/1666 (2013.01); B25J 9/1679 (2013.01); B25J 19/02 (2013.01); B60C 5/005 (2013.01); B60G 17/0152 (2013.01); B60P 3/007 (2013.01); B60Q 5/005 (2013.01); B60W 10/04 (2013.01); B60W 10/20 (2013.01); B60W 30/09 (2013.01); B65D 88/524 (2013.01); B65D 90/023 (2013.01); B65D 90/08 (2013.01); B65D 90/18 (2013.01); B65G 1/1373 (2013.01); B65G 67/24 (2013.01); G01C 21/3438 (2013.01); G05D 1/0011 (2013.01); G05D 1/0022 (2013.01); G05D 1/0088 (2013.01); G05D 1/021 (2013.01); G05D 1/027 (2013.01); G05D 1/0214 (2013.01); G05D 1/0223 (2013.01); G05D 1/0225 (2013.01); G05D 1/0274 (2013.01); G05D 1/0276 (2013.01); G05D 1/0287 (2013.01); G05D 1/0295 (2013.01); G06F 21/32 (2013.01); G06Q 10/083 (2013.01); G06Q 10/0832 (2013.01); G06Q 10/0833 (2013.01); G06Q 10/0836 (2013.01); G06Q 10/0837 (2013.01); G06Q 10/0838 (2013.01); G06Q 10/0875 (2013.01); G06Q 30/0633 (2013.01); G07C 9/00182 (2013.01); G07C 9/00563 (2013.01); G07C 9/00571 (2013.01); G07C 9/00857 (2013.01); G07C 9/27 (2020.01); G07C 9/37 (2020.01); G08G 1/202 (2013.01); H02J 9/00 (2013.01); H04B 1/3822 (2013.01); H04W 52/322 (2013.01); B60W 2554/00 (2020.02); G05B 2219/39172 (2013.01); G05B 2219/50391 (2013.01); G05D 2201/0206 (2013.01); G05D 2201/0216 (2013.01); G06Q 50/28 (2013.01); G07C 2009/0092 (2013.01); H04W 84/20 (2013.01)] 32 Claims
OG exemplary drawing
 
1. A method for navigating to a designated shipping location as part of a multi-leg logistics operation using a plurality of nodes in a wireless node network, a server in the network, and a plurality of node-enabled autonomous transport vehicles in the network, comprising:
detecting, by a first mobile master node of the plurality of nodes, a signal broadcast from a second mobile master node of the plurality of nodes, wherein the first mobile master node is associated with a first of the node-enabled autonomous transport vehicles and the second mobile master node is associated with a second of the node-enabled autonomous transport vehicles, wherein the second of the node-enabled autonomous transport vehicles being identified by the first mobile master node as authorized to participate in a second leg of the multi-leg logistics operation;
first mobile master node identifies that the second of the node-enabled autonomous transport vehicles being authorized to participate in a second leg of the multi-leg logistics operation
instructing, by the first mobile master node, the second mobile master node to alter a power level of the signal broadcast from the second mobile master node;
identifying, by the first mobile master node, the signal broadcast from the second mobile master node with the altered power level;
determining, by the first mobile master node, a direction of the second mobile master node relative to the first mobile master node based upon the detected signal from the second mobile master node with the altered power level;
navigating, by the first mobile master node, to the second mobile master node associated with the second of the node-enabled autonomous transport vehicles based upon the determined direction of the second mobile master node relative to the first mobile master node;
transferring at least one item as payload from the first of the node-enabled autonomous transport vehicles to the second of the node-enabled autonomous transport vehicles at a waypoint location of the second of the node-enabled autonomous transport vehicles to begin the second leg of the multi-leg logistics operation, wherein the transferring comprises causing a transfer alignment configuration by the first mobile master node securing a docking interface of the first of the node-enabled autonomous transfer vehicles to a docking interface of the second of the node-enabled autonomous transfer vehicles and an arm of the first of the node-enabled autonomous transfer vehicles positioning the at least one item so that an arm of the second of the node-enabled autonomous transfer vehicles can then position the at least one item for transport by the second of the node-enabled autonomous transfer vehicles;
detecting, by the second mobile master node, a signal broadcast from another of the plurality of nodes, the another node being associated with the designated shipping location for the payload;
instructing, by the second mobile master node, the another node to alter a power level of the signal broadcast from the another node;
identifying, by the second mobile master node, the signal broadcast from the another node with the altered power level;
determining, by the second mobile master node, a direction of the another node relative to the second mobile master node based upon the detected signal from the another node with the altered power level; and
navigating, by the second mobile master node, to the another node based upon the determined direction of the another node relative to the second mobile master node as part of the second leg of the multi-leg logistics operation.