US 11,747,820 B2
Enhanced systems, apparatus, and method for improved automated and autonomous operation of logistics ground support equipment
Reuben F. Burch, V, Columbus, MS (US); Sherif Abelwahed, Starkville, MS (US); John E. Ball, Starkville, MS (US); Matt Doude, Starkville, MS (US); James R. Gafford, Charlotte, NC (US); Tyler J. Hannis, Starkville, MS (US); Yucheng Liu, Starkville, MS (US); Michael S. Mazzola, Mint Hill, NC (US); and Howard McKinney, Bartlett, TN (US)
Assigned to FEDEX CORPORATE SERVICES, INC., Collierville, TN (US)
Filed by FEDEX CORPORATE SERVICES, INC., Collierville, TN (US)
Filed on Sep. 3, 2021, as Appl. No. 17/466,033.
Application 17/466,033 is a continuation of application No. 16/524,723, filed on Jul. 29, 2019, granted, now 11,157,011.
Claims priority of provisional application 62/711,691, filed on Jul. 30, 2018.
Prior Publication US 2021/0397196 A1, Dec. 23, 2021
Int. Cl. G05D 1/02 (2020.01); G05D 1/00 (2006.01); G06V 20/58 (2022.01)
CPC G05D 1/0223 (2013.01) [G05D 1/0027 (2013.01); G05D 1/0088 (2013.01); G05D 1/0289 (2013.01); G06V 20/58 (2022.01)] 28 Claims
OG exemplary drawing
 
1. A retrofit assembly apparatus for use on a logistics ground support equipment to enhance a level of autonomous operation of the logistics ground support equipment, the assembly comprising:
a refit control system attached to the logistics ground support equipment, the refit control system comprising
a vehicle dynamics control processor,
a data preprocessing control processor in communication with the vehicle dynamics control processor, and
a database operatively coupled to the vehicle dynamics control processor, the database maintaining contextual environment data related to an operating environment for the logistics ground support equipment;
a plurality of retrofitted sensors coupled to the refit control system and disposed on the logistics ground support equipment as retrofitted equipment to the logistics ground support equipment, the retrofitted sensors comprising
a first group of proprioceptive sensors coupled to the vehicle dynamics control processor that monitor operating parameters and characteristics of the logistics ground support equipment, and
a second group of exteroceptive sensors coupled to the data preprocessing control processor that monitor an exterior environment of the logistics ground support equipment;
a plurality of actuators coupled to the refit control system, wherein each of the actuators being disposed on the logistics ground support equipment as a retrofit actuator to add control of different ones of a plurality of control elements on the logistics ground support equipment and to autonomously alter motion of the logistics ground support equipment; and
wherein the refit control system is programmatically configured to be operative to
receive first sensor data generated by the first group of proprioceptive sensors using the vehicle dynamics control processor of the refit control system,
receive second sensor data generated by the second group of exteroceptive sensors using the data preprocessing control processor,
generate depth and spatial awareness information relative to the current state of the logistics ground support equipment based upon the second sensor data using the data preprocessing control processor,
access the contextual environment data from the database using the vehicle dynamics control processor based upon the depth and spatial awareness information provided by the data preprocessing control processor to the vehicle dynamics control processor,
determine a heading and speed for the logistics ground support equipment by the vehicle dynamics control processor based upon the depth and spatial awareness information as provided by the data preprocessing control processor to the vehicle dynamics control processor, the contextual environmental data accessed by the vehicle dynamics control processor, and the first sensor data received by the vehicle dynamics control processor, and
activate, by the vehicle dynamics control processor, at least one of the actuators according to the determined heading and speed for the logistics ground support equipment.