# US 2019/0244531 A1 · Systems and methods for managing last mile deliveries > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0244531 A1 - Document ID: US20190244531A1 - Status: Published application - Kind: A1 - Application number: 16/261,308 - Filed: 2019-01-29 - Published: 2019-08-08 - Earliest claimed: 2018-02-02 - Applicants: Walmart Apollo, LLC - Inventors: Nathan G. Jones; Robert L. Cantrell; Donald R. High; Todd D. Mattingly - Web page: https://patentgrep.com/patent/US20190244531A1 ## CPC - G08G 5/55: for a single aircraft - G01C 21/005: {with correlation of navigation data from several sources, e.g. map or contour matching (G01C21/30 takes precedence)} - G01C 23/00: Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration - G01S 19/071: {DGPS corrections} - G01S 19/14: specially adapted for specific applications - G01S 19/39: the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO - G06Q 10/08355: {Routing methods} - G08G 5/26: Transmission of traffic-related information between aircraft and ground stations - G08G 5/32: for flight plan preparation - G08G 5/34: for flight plan modification - G08G 5/57: for unmanned aircraft - G08G 5/76: for monitoring atmospheric conditions - G08G 5/80: Anti-collision systems - G01S 19/41: Differential correction, e.g. DGPS [differential GPS] - 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}) - 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) - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - 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 ## Abstract In some embodiments, apparatuses and methods are provided herein useful to manage a last mile delivery of an unmanned vehicle (UV). In some embodiments, there is provided a system for managing a last mile delivery of a UV including a scout UV configured to perform a dry run delivery to a delivery destination comprising: a differential global positioning satellite (DGPS), an altimeter sensor, a distance sensor, a wind sensor, and a scout control circuit configured to: determine positional location coordinates of the scout UV, determine perimeter coordinates of obstacles along one or more last mile routes, determine a trail of positional location coordinates, provide the trail of positional location coordinates to a delivery UV; and a delivery UV configured to follow the trail of positional location coordinates during an actual delivery of one or more retail products to a delivery destination. ## Claims ### Claim 1 A system for managing a last mile delivery of an unmanned vehicle (UV) comprising: a scout UV configured to perform a dry run delivery on one or more last mile routes to a delivery destination comprising: a differential global positioning satellite (DGPS) receiver configured to: receive positioning data from a satellite; and receive positioning correction data from a DGPS base station; an altimeter sensor configured to provide altitude data of the scout UV; a distance sensor configured to provide distance data of obstacles along the one or more last mile routes; a wind sensor configured to provide wind data along the one or more last mile routes; and a scout control circuit coupled to the DGPS receiver, the altimeter sensor, the distance sensor, and the wind sensor, the scout control circuit configured to: determine positional location coordinates of the scout UV based on the positioning data and the positioning correction data received by the DGPS receiver and the altitude data provided by the altimeter sensor during the dry run delivery over the one or more last mile routes; determine perimeter coordinates of the obstacles along the one or more last mile routes based on the distance data, the wind data, and the positional location coordinates; determine a trail of positional location coordinates based on the positional location coordinates of the scout UV and the perimeter coordinates of the obstacles, wherein the trail of positional location coordinates establishes a delivery path to be followed by a delivery UV over the one or more last mile routes during an actual delivery of one or more retail products associated with one or more retail orders to the delivery destination; and provide the trail of positional location coordinates to the delivery UV; and the delivery UV communicatively coupled to the scout UV, the delivery UV configured to follow the trail of positional location coordinates during the actual delivery of the one or more retail products to the delivery destination. ### Claim 2 (depends on 1) The system of claim 1, wherein each one of the perimeter coordinates defines one or more spatial boundaries of a particular obstacle, and wherein the one or more spatial boundaries corresponds to a threshold limit that the delivery UV is allowed to deviate from a portion of the trail of positional location coordinates proximate the particular obstacle. ### Claim 3 (depends on 1) The system of claim 1, wherein the trail of positional location coordinates comprises a series of global positioning satellite (GPS) coordinates starting from a first GPS coordinate corresponding to an outer edge of the one or more last mile routes and ending at a second GPS coordinate corresponding to the delivery destination. ### Claim 4 (depends on 3) The system of claim 3, wherein each GPS coordinate in the series of GPS coordinates is at least within a threshold value of a particular centimeter apart or fraction thereof from other GPS coordinates in the series of GPS coordinates. ### Claim 5 (depends on 1) The system of claim 1, wherein, in following the trail of positional location coordinates, the delivery UV is configured, on default, to expect no obstacle in the delivery path by following the trail of positional location coordinates. ### Claim 6 (depends on 5) The system of claim 5, wherein the scout control circuit is further configured to provide to the delivery UV the perimeter coordinates of the obstacles along the one or more last mile routes, and wherein the delivery UV is further configured to: detect an unexpected obstacle blocking a portion of the delivery path along the trail of positional location coordinates; consider a particular perimeter coordinate of the perimeter coordinates proximate the portion of the delivery path when avoiding the unexpected obstacle; and provide an alert message to a main control circuit indicating the unexpected obstacle blocking the portion of the delivery path, and further comprising: the main control circuit that is remote from and communicatively coupled to the delivery UV and the scout UV, the main control circuit configured to: receive the trail of positional location coordinates from the scout UV; and provide at least one of: a warning message to one or more other delivery UVs having another delivery path comprising the portion of the delivery path and a modified delivery path to the one or more other delivery UVs. ### Claim 7 (depends on 1) The system of claim 1, wherein the perimeter coordinates of the obstacles along the one or more last mile routes are determined over a plurality of different periods of time to account for varying wind data during a plurality of weather patterns, and wherein the scout control circuit is further configured to: associate a particular determined perimeter coordinate of a particular obstacle with at least one of: a corresponding one of the varying wind data, a corresponding one of the plurality of weather patterns, and a corresponding one of a period of time; and initiate storage of the associated particular determined perimeter coordinate of a plurality of associated particular determined perimeter coordinates to a database that is communicatively coupled to the scout control circuit. ### Claim 8 (depends on 7) The system of claim 7, wherein the scout control circuit is further configured to: receive a forecasted weather pattern corresponding to the period of time of the actual delivery of the one or more retail orders to the delivery destination by the delivery UV; and access the database to determine the particular determined perimeter coordinate corresponding to the particular obstacle and the weather pattern that is substantially matching the forecasted weather pattern, wherein the determination of the trail of positional location coordinates is further based on a particular perimeter coordinate corresponding to the particular obstacle and the forecasted weather pattern, wherein the one or more last mile routes comprises one or more routes having a threshold distance between an initial start of descent of the delivery UV to the delivery destination. ### Claim 9 (depends on 1) The system of claim 1, wherein the one or more last mile routes comprises one or more routes having a threshold distance that is between the delivery destination and about 300 feet from the delivery destination. ### Claim 10 (depends on 9) The system of claim 9, wherein the delivery UV is configured to start following the trail of positional location coordinates when the delivery UV reaches the threshold distance. ### Claim 11 (depends on 1) The system of claim 1, wherein the scout control circuit is further configured to communicate with the delivery UV over a blockchain network, wherein the trail of positional location coordinates is provided to the delivery UV over the blockchain network. ### Claim 12 (depends on 11) The system of claim 11, wherein the scout UV further comprises a low power radio frequency device configured to transmit the trail of positional location coordinates over the blockchain network. ### Claim 13 A method for managing a last mile delivery of an unmanned vehicle (UV) comprising: determining, by a scout control circuit of a scout UV, positional location coordinates of the scout UV based on positioning data and positioning correction data received from a differential global positioning satellite (DGPS) receiver and altitude data received from an altimeter sensor during a dry run delivery of the scout UV over one or more last mile routes; determining, by the scout control circuit, perimeter coordinates of obstacles along the one or more last mile routes based on distance data received from a distance sensor, wind data received from a wind sensor, and the positional location coordinates; determining, by the scout control circuit, a trail of positional location coordinates based on the positional location coordinates of the scout UV and the perimeter coordinates of the obstacles, wherein the trail of positional location coordinates establishes a delivery path to be followed by a delivery UV over the one or more last mile routes during an actual delivery of one or more retail orders to a delivery destination; providing, by the scout control circuit, the trail of positional location coordinates to the delivery UV; and following, by the delivery UV, the trail of positional location coordinates during the actual delivery of one or more retail products to the delivery destination. ### Claim 14 (depends on 13) The method of claim 13, wherein each one of the perimeter coordinates defines one or more spatial boundaries of a particular obstacle, and wherein the one or more spatial boundaries corresponds to a threshold limit that the delivery UV is allowed to deviate from a portion of the trail of positional location coordinates proximate the particular obstacle. ### Claim 15 (depends on 13) The method of claim 13, wherein the trail of positional location coordinates comprises a series of global positioning satellite (GPS) coordinates starting from a first GPS coordinate corresponding to an outer edge of the one or more last mile routes and ending at a second GPS coordinate corresponding to the delivery destination. ### Claim 16 (depends on 15) The method of claim 15, wherein each GPS coordinate in the series of GPS coordinates is at least within a threshold value of a particular centimeter value apart or fraction thereof from other GPS coordinate in the series of GPS coordinates. ### Claim 17 (depends on 13) The method of claim 13, wherein, in the following of the trail of positional location coordinates, the delivery UV is configured, on default, to expect no obstacle in the delivery path by following the trail of positional location coordinates. ### Claim 18 (depends on 17) The method of claim 17, further comprising: providing, by the scout control circuit, to the delivery UV the perimeter coordinates of the obstacles along the one or more last mile routes; detecting, by the delivery UV, an unexpected obstacle blocking a portion of the delivery path along the trail of positional location coordinates; considering, by the delivery UV, a particular perimeter coordinate of the perimeter coordinates proximate the portion of the delivery path when avoiding the unexpected obstacle; providing, by the delivery UV, an alert message to a main control circuit indicating the unexpected obstacle blocking the portion of the delivery path, wherein the main control circuit is remote from and communicatively coupled to the delivery UV and the scout UV; receiving, by the main control circuit, the trail of positional location coordinates from the scout control circuit; and providing, by the main control circuit, at least one of: a warning message to one or more delivery UVs having another delivery path comprising the portion of the delivery path and a modified mission data comprising a modified delivery path to one or more other delivery UVs. ### Claim 19 (depends on 13) The method of claim 13, wherein the perimeter coordinates of the obstacles along the one or more last mile routes are determined over a plurality of different periods of time to account for varying wind data during a plurality of weather patterns, and further comprising: associating, by the scout control circuit, a particular determined perimeter coordinate of a particular obstacle with at least one of: a corresponding one of the varying wind data, a corresponding one of the plurality of weather patterns, and a corresponding one of a period of time; and initiating, by the scout control circuit, storage of the associated particular determined perimeter coordinate of a plurality of associated particular determined perimeter coordinates to a database that is communicatively coupled the scout control circuit and a main control circuit. ### Claim 20 (depends on 19) The method of claim 19, further comprising: receiving, by the scout control circuit, forecasted weather pattern corresponding to the period of time of the actual delivery of the one or more retail orders to the delivery destination by the delivery UV; and accessing, by the scout control circuit, the database to determine the particular determined perimeter coordinate corresponding to the particular obstacle and the weather pattern that is substantially matching the forecasted weather pattern, wherein the determining of the trail of positional location coordinates is further based on the particular perimeter coordinate corresponding to the particular obstacle and the forecasted weather pattern, wherein the one or more last mile routes comprises one or more routes having a threshold distance between an initial start of descent of the delivery UV to the delivery destination. ### Claim 21 (depends on 13) The method of claim 13, wherein the one or more last mile routes comprises one or more routes having a threshold distance that is between the delivery destination and about 300 feet from the delivery destination, and wherein, prior to the following of the trail of positional location coordinates, determining, by the delivery UV, whether the delivery UV has reached the threshold distance. ### Claim 22 (depends on 13) The method of claim 13, further comprising: obtaining, by the scout control circuit, multiple different sets of weather patterns during each of a corresponding one of multiple different periods of time of different seasons of a year; and obtaining, by the scout control circuit, for each set of the multiple different sets of weather patterns corresponding different sets of wind data. ### Claim 23 (depends on 13) The method of claim 13, further comprising, in providing the trail of positional location coordinates to the delivery UV, transmitting over a blockchain network, by the scout control circuit to the delivery UV, the trail of positional location coordinates through a low power radio frequency device of the scout UV.