# US 10,864,885 B2 · Systems and methods for autonomously loading and unloading autonomous vehicles

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- Number: US 10,864,885 B2
- Document ID: US10864885B2
- Status: Granted
- Kind: B2
- Application number: 16/048,669
- Filed: 2018-07-30
- Published: 2019-01-31
- Granted: 2020-12-15
- Earliest claimed: 2017-07-28
- Assignees: Nuro, Inc.
- Applicants: Nuro, Inc.
- Inventors: David Ferguson; Jiajun Zhu
- Web page: https://patentgrep.com/patent/US10864885B2

## CPC

- G07C 9/00896: {specially adapted for particular uses}
- G09F 21/048: {Advertisement panels on sides, front or back of vehicles}
- B60P 3/007: {for delivery of small articles, e.g. milk, frozen articles}
- B60R 19/483: {with obstacle sensors of electric or electronic type}
- B60R 21/34: Protecting non-occupants of a vehicle, e.g. pedestrians {(B60R19/02 takes precedence)}
- B60W 30/08: {Active safety systems} predicting or avoiding probable or impending collision {or attempting to minimise its consequences}
- B60W 60/001: {Planning or execution of driving tasks}
- B60W 60/0017: {of other traffic participants}
- B60W 60/00256: {Delivery operations}
- B60W 60/0027: {using trajectory prediction for other traffic participants}
- B60W 60/00276: {for two or more other traffic participants}
- B65G 67/24: Unloading land vehicles
- G01C 21/20: Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence)
- G01C 21/343: {Calculating itineraries (travelling salesman problem G06Q10/04; optimisation of routes G06Q10/047)}
- G01C 21/3438: {Rendezvous; Ride sharing}
- G01C 21/3453: {Special cost functions, i.e. other than distance or default speed limit of road segments}
- G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00)
- G05D 1/0027: {involving a plurality of vehicles, e.g. fleet or convoy travelling (fleet control of land vehicles from a control room G05D1/0297; traffic control systems for road vehicles G08G1/00; for marine craft G08G3/00; for aircraft G08G5/00)}
- G05D 1/0033: {by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle}
- G05D 1/0038: {by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation (images analyzed by a computer and used for automatic navigation G05D1/0246)}
- G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)}
- G05D 1/0094: {involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target}
- G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)}
- G05D 1/0231: {using optical position detecting means (position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16)}
- G05D 1/0276: {using signals provided by a source external to the vehicle (involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058)}
- G05D 1/0291: {Fleet control (monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127)}
- G05D 1/0295: {by at least one leading vehicle of the fleet}
- G05D 1/0297: {by controlling means in a control room}
- G05D 1/12: Target-seeking control
- G05D 1/2235: {involving the operator tracking the vehicle by direct line of sight}
- G05D 1/2247: {providing the operator with simple or augmented images from one or more cameras}
- G05D 1/6445: {for optimising payload operation, e.g. camera or spray coverage}
- G05D 1/651: {with controlled time of arrival at target points, e.g. 4D navigation}
- G05D 1/686: Maintaining a relative position with respect to moving targets, e.g. following animals or humans (for pointing payloads towards targets G05D1/689; involving controlling the position or course of two or more vehicles G05D1/69)
- G06F 16/955: using information identifiers, e.g. uniform resource locators [URL]
- G06K 7/10297: {arrangements for handling protocols designed for non-contact record carriers such as RFIDs NFCs, e.g. ISO/IEC 14443 and 18092 (cryptographic protocols H04L9/00; network security protocols H04L63/00; real-time communication protocols in data switching networks H04L65/00; network protocols for data switching network services H04L67/00)}
- G06K 7/1413: {1D bar codes}
- G06K 19/06028: {using bar codes}
- G06K 19/0723: {the record carrier comprising an arrangement for non-contact communication, e.g. wireless communication circuits on transponder cards, non-contact smart cards or RFIDs}
- G06N 20/00: Machine learning
- G06Q 10/00: Administration; Management
- G06Q 10/0631: Resource planning, allocation, distributing or scheduling for enterprises or organisations
- G06Q 10/06315: {Needs-based resource requirements planning or analysis}
- G06Q 10/0635: Risk analysis of enterprise or organisation activities
- G06Q 10/08: Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q 10/083: Shipping
- G06Q 10/0832: Special goods or special handling procedures, e.g. handling of hazardous or fragile goods
- G06Q 10/0833: Tracking
- G06Q 10/0834: Choice of carriers
- G06Q 10/0835: Relationships between shipper or supplier and carriers
- G06Q 10/08355: {Routing methods}
- G06Q 10/0837: Return transactions
- G06Q 20/00: Payment architectures, schemes or protocols (apparatus for performing or posting payment transactions G07F7/08, G07F19/00; electronic cash registers G07G1/12)
- G06Q 20/127: {Shopping or accessing services according to a time-limitation}
- G06Q 20/18: involving self-service terminals [SST], vending machines, kiosks or multimedia terminals
- G06Q 30/0265: {Vehicular advertisement}
- G06Q 30/0266: {based on the position of the vehicle}
- G06Q 30/0631: {Recommending goods or services}
- G06Q 30/0645: Rental transactions; Leasing transactions
- G06Q 50/12: Hotels or restaurants
- G06Q 50/40: Business processes related to the transportation industry (shipping G06Q10/083)
- G06V 20/64: Three-dimensional [3D] objects
- G07C 9/00563: {using personal physical data of the operator, e.g. finger prints, retinal images, voicepatterns}
- G07F 17/0057: {for the hiring or rent of vehicles, e.g. cars, bicycles or wheelchairs (car rental G07B15/00)}
- G07F 17/12: comprising lockable containers, e.g. for accepting clothes to be cleaned
- G08G 1/04: using optical or ultrasonic detectors
- G08G 1/202: {Dispatching vehicles on the basis of a location, e.g. taxi dispatching}
- H04L 67/12: specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04W 4/024: Guidance services
- H04W 4/40: for vehicles, e.g. vehicle-to-pedestrians [V2P]
- A23L 2/52: Adding ingredients (adding preservatives A23B70/10)
- A23L 5/00: Preparation or treatment of foods or foodstuffs, in general; Food or foodstuffs obtained thereby; Materials therefor
- A23L 7/109: Types of pasta, e.g. macaroni or noodles
- A23V 2002/00: Food compositions, function of food ingredients or processes for food or foodstuffs
- A47J 37/0658: {specially adapted for cooking pizza}
- A47J 47/00: Kitchen containers, stands or the like, not provided for in other groups of this subclass; Cutting-boards, e.g. for bread {(bowls for food processors A47J43/0727)}
- B60H 1/00364: {for caravans or trailers}
- B60H 1/00735: {Control systems or circuits characterised by their input, i.e. by the detection, measurement or calculation of particular conditions, e.g. signal treatment, dynamic models}
- B60P 1/36: using endless chains or belts thereon
- B60P 3/0257: {the object being a vending stall, restaurant or food kiosk}
- B60R 19/18: {characterised by the cross-section;} Means within the bumper to absorb impact
- B60R 21/36: using airbags
- B60R 25/25: using biometry
- B60R 25/252: {Fingerprint recognition}
- B60R 2021/346: {means outside vehicle body}
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2420/408: Radar; Laser, e.g. lidar
- B60W 2420/54: Audio sensitive means, e.g. ultrasound
- B60W 2555/20: Ambient conditions, e.g. wind or rain
- B60W 2556/40: High definition maps
- B60W 2556/45: External transmission of data to or from the vehicle
- B64U 2101/64: for parcel delivery or retrieval
- B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- B65G 2209/06: Use of order trucks
- G05D 2101/10: using artificial intelligence [AI] techniques
- G06F 3/017: {Gesture based interaction, e.g. based on a set of recognized hand gestures (interaction based on gestures traced on a digitiser G06F3/04883)}
- G06F 3/0484: for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
- G06K 7/10722: {Photodetector array or CCD scanning}
- G06Q 10/0841: {Compliance with shipping requirements}
- G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle
- G07C 9/00571: {operated by interacting with a central unit}
- G07C 9/28: the pass enabling tracking or indicating presence
- G07C 2009/0092: {for cargo, freight or shipping containers and applications therefore in general}
- G07C 2209/63: Comprising locating means for detecting the position of the data carrier, i.e. within the vehicle or within a certain distance from the vehicle
- G08G 1/22: {Platooning, i.e. convoy of communicating vehicles}
- H04N 5/76: Television signal recording
- H05B 6/688: {for thawing}
- G07C: TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G09F: DISPLAYING; ADVERTISING; SIGNS; LABELS OR NAME-PLATES; SEALS
- B60P: VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS (vehicles with special provisions for transporting patients or disabled persons, or their personal conveyances A61G3/00)
- B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D)
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- G06K: GRAPHICAL DATA READING (image or video recognition or understanding G06V); PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06N: COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G07F: COIN-FREED OR LIKE APPARATUS (coin sorting G07D3/00; coin testing G07D5/00; {handling coins or paper currencies apart from payment activated apparatus G07D; payment architectures, schemes or protocols G06Q20/00})
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})
- H04L: TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION (arrangements common to telegraphic and telephonic communication H04M)
- H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72)
- A23L: FOODS, FOODSTUFFS OR NON-ALCOHOLIC BEVERAGES, NOT OTHERWISE PROVIDED FOR; PREPARATION OR TREATMENT THEREOF (preservation thereof A23B)
- A23V: INDEXING SCHEME RELATING TO FOODS, FOODSTUFFS OR NON-ALCOHOLIC BEVERAGES AND LACTIC OR PROPIONIC ACID BACTERIA USED IN FOODSTUFFS OR FOOD PREPARATION
- A47J: KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- B60H: ARRANGEMENTS OF HEATING, COOLING, VENTILATING OR OTHER AIR-TREATING DEVICES SPECIALLY ADAPTED FOR PASSENGER OR GOODS SPACES OF VEHICLES
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION
- H05B: ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL

## Abstract

An autonomous system for loading or unloading an autonomous vehicle, in accordance with aspects of the present disclosure, includes one or more module(s) that include at least one of a compartment or a sub-compartment where the module(s) are located in an autonomous vehicle, a robotic movement apparatus configured to autonomously move items to or from the module(s), one or more processors, and at least one memory storing instructions which, when executed by the processor(s), cause the autonomous system to autonomously move an item, using the robotic movement apparatus, to or from the at least one module of the autonomous vehicle.

## Claims

### Claim 1

An autonomous system for loading or unloading an autonomous vehicle, the autonomous system comprising:
at least one module including at least one of: a compartment or a sub-compartment, the at least one module located in the autonomous vehicle;
a robotic movement apparatus configured to autonomously move items to or from the at least one module;
one or more processors;
at least one memory storing instructions which, when executed by the one or more processors, cause the autonomous system to autonomously move an item, using the robotic movement apparatus, to or from the at least one module of the autonomous vehicle; and
an imaging device configured to capture imaging information of the at least one module.

### Claim 2 (depends on 1)

The autonomous system of claim 1, wherein the at least one module includes a plurality of modules, wherein the instructions, when executed by the one or more processors, further cause the autonomous system to:
associate each of the plurality of modules with respective customers;
identify a customer of the item;
determine that the at least one module is associated with the customer of the item; and
autonomously move the item to or from the at least one module.

### Claim 3 (depends on 2)

The autonomous system of claim 2, wherein the robotic movement apparatus includes a conveyor belt.

### Claim 4 (depends on 1)

The autonomous system of claim 1, wherein the instructions, when executed by the one or more processors, further cause the autonomous system to:
identify, based on the imaging information, an available space within the at least one module that can receive the item; and
autonomously move the item to the available space.

### Claim 5 (depends on 1)

The autonomous system of claim 1, wherein the item is contained in the at least one module, and wherein the instructions, when executed by the one or more processors, further cause the autonomous system to:
based on the imaging information, locate the item within the at least one module; and
autonomously move the item out of the at least one module.

### Claim 6 (depends on 1)

The autonomous system of claim 1, wherein the item is contained in the at least one module and includes a barcode, the imaging information includes an image of the barcode, and the instructions, when executed by the one or more processors, further cause the autonomous system to locate the item in the at least one module based on the image of the barcode.

### Claim 7 (depends on 1)

The autonomous system of claim 1, wherein the imaging device is located in the autonomous vehicle.

### Claim 8 (depends on 7)

The autonomous system of claim 7, wherein the robotic movement apparatus is located within the autonomous vehicle, and wherein the imaging device is secured to the robotic movement apparatus.

### Claim 9 (depends on 1)

The autonomous system of claim 1, wherein the imaging device is located outside the autonomous vehicle and in a facility where the autonomous vehicle is to be loaded or unloaded.

### Claim 10 (depends on 1)

The autonomous system of claim 1, wherein the robotic movement apparatus is separate from the autonomous vehicle.

### Claim 11 (depends on 1)

The autonomous system of claim 1, wherein the item includes an RFID tag and the robotic movement apparatus includes a robotic arm, the autonomous system further comprising an RFID reader secured to the robotic arm and configured to read the RFID tag.

### Claim 12 (depends on 1)

The autonomous system of claim 1, further comprising:
a communication sub-system of the autonomous vehicle; and
at least one access door of the autonomous vehicle, the at least one access door corresponding to the at least one module and configured to open to provide access to the at least one module.

### Claim 13 (depends on 12)

The autonomous system of claim 12, wherein the instructions, when executed by the one or more processors, further cause the autonomous system to:
authenticate a transfer operation with a transfer confirmation system, the transfer operation including a customer identifier;
determine one module of the at least one module assigned to the customer identifier; and
open one of the at least one access door corresponding to the one module to provide access to the one module.

### Claim 14 (depends on 13)

The autonomous system of claim 13, wherein the transfer operation is a loading operation, and wherein the transfer confirmation system is a system of a facility.

### Claim 15 (depends on 13)

The autonomous system of claim 13, wherein the transfer operation is an unloading operation, and wherein the transfer confirmation system is a customer management system.

### Claim 16 (depends on 15)

The autonomous system of claim 15, wherein the unloading operation includes autonomously unloading, by the robotic movement apparatus, the item out of the one module at a customer location.

### Claim 17

An autonomous method for autonomously loading or unloading an autonomous vehicle, the method comprising:
establishing communications between a transfer confirmation system and the autonomous vehicle, wherein the autonomous vehicle includes:
at least one module that includes at least one of: a compartment or a sub-compartment,
at least one access door corresponding to the at least one module and configured to open to provide access to the at least one module; and
an imaging device configured to obtain imaging information of the at least one module;
authenticating a loading operation with the transfer confirmation system, the loading operation including a customer identifier;
determining one module of the at least one module assigned to the customer identifier;
opening one access door of the at least one access door corresponding to the one module to provide access to the one module; and
autonomously moving an item included in the loading operation to the one module of the autonomous vehicle.

### Claim 18 (depends on 17)

The autonomous method of claim 17, further comprising:
identifying, based on the imaging information, an available space within the at least one module that can receive the item, wherein autonomously moving the item includes moving the item to the available space.

### Claim 19 (depends on 17)

The autonomous method of claim 17, further comprising:
authenticating an unloading operation with a customer management system;
opening the one access door to provide access to the one module; and
autonomously moving the item out of the one module of the autonomous vehicle.

### Claim 20 (depends on 19)

The autonomous method of claim 19, the method further comprising:
locating the item within the one module based on the imaging information.

### Claim 21

An autonomous system for loading or unloading an autonomous vehicle, the autonomous system comprising:
one or more memories configured to store processor-executable instructions;
one or more processors configured to execute the processor-executable instructions, wherein the processor-executable instructions, when executed by the one or more processors, cause the one or more processors to:
establish communications between a transfer confirmation system and the autonomous vehicle, wherein the autonomous vehicle includes at least one module that includes at least one of: a compartment or a sub-compartment, and at least one access door corresponding to the at least one module and configured to open to provide access to the at least one module;
authenticate a loading operation with the transfer confirmation system, the loading operation including a customer identifier;
determine one module of the at least one module assigned to the customer identifier;
open one access door of the at least one access door corresponding to the one module to provide access to the one module; and
autonomously move an item included in the loading operation to the one module of the autonomous vehicle; and
an imaging device configured to obtain imaging information of the at least one module.

### Claim 22 (depends on 21)

The autonomous system of claim 21, wherein the processor-executable instructions, when executed by the one or more processors, further cause the one or more processors to:
identify, based on the imaging information, an available space within the at least one module that can receive the item, wherein the processor-executable instructions, when executed by the one or more processors, cause the one or more processors to move the item to the available space.