# US 9,436,926 B2 · Entryway based authentication system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,436,926 B2 - Document ID: US9436926B2 - Status: Granted - Kind: B2 - Application number: 14/530,677 - Filed: 2014-10-31 - Published: 2015-08-27 - Granted: 2016-09-06 - Earliest claimed: 2014-02-25 - Assignees: Savioke, Inc. - Applicants: Savioke, Inc. - Inventors: Steve Cousins; Jonathan Binney; Chad Rockey; Adrian Canoso - Web page: https://patentgrep.com/patent/US9436926B2 ## CPC - G06Q 10/087: Inventory or stock management, e.g. order filling, procurement or balancing against orders - G05D 1/0246: {using a video camera in combination with image processing means} - G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - G06Q 10/08741: {by picking of items from inventory for fulfillment} - 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 - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A system can include at least one robot configured to autonomously navigate from a first location to a destination zone, the at least one robot having a generally cylindrical shape and including a storage container for storing at least one item for delivery, a plurality of image based depth sensor mounted proximate a top end of the robot, and a controller configured to navigate to the destination zone and to authenticate a delivery target for the item. ## Claims ### Claim 1 A system, comprising: at least one robot configured to autonomously navigate from a first location to a destination zone, the at least one robot having a generally cylindrical shape and including a storage container for storing at least one item for delivery, a plurality of image based depth sensors mounted proximate a top end of the robot, and a controller configured to navigate to the destination zone and to authenticate a delivery target for the item and to authenticate the delivery target in response to at least the detection, by the robot, of an open door at the destination zone. ### Claim 2 (depends on 1) The system of claim 1, wherein: the delivery target is a person; and the controller is configured to further authenticate the delivery target by a human interface. ### Claim 3 (depends on 1) The system of claim 1, wherein: the controller is configured to further authenticate the delivery target via a video interface included with the robot. ### Claim 4 (depends on 1) The system of claim 1, wherein: the delivery target is a person that is given an identification item; and controller is configured to further authenticate the delivery target via the identification item. ### Claim 5 (depends on 1) The system of claim 1, wherein: the identification item is selected from the group of: a room key, a personal identification number. ### Claim 6 (depends on 1) The system of claim 1, wherein: the storage container is lockable; and the controller is further configured to unlock the container once authentication is complete. ### Claim 7 (depends on 1) The system of claim 1, wherein: the storage container is lockable; and the controller is further configured to open the container once authentication is complete to display the item. ### Claim 8 (depends on 1) The system of claim 1, wherein: the controller is further configured to rotate to place the storage container in a particular orientation with respect to the destination zone. ### Claim 9 (depends on 1) The system of claim 1, wherein: the at least two depth sensor cameras are mounted on one side of the robot; the storage container is located on a different side of the robot than the at least two depth sensor cameras; and the controller is further configured to rotate to present the storage container in a particular orientation with respect to the destination zone. ### Claim 10 (depends on 1) The system of claim 1, further including: the robot is configured to operate in a work space; and a plurality of position indicating objects located in the work space; wherein the controller is configured to determine a location of the robot based, at least in part, upon detecting the position indicating objects. ### Claim 11 (depends on 1) The system of claim 1, further including: the robot is configured to operate in a work space; and a communication network covering at least a portion of the work space; wherein the controller is configured to receive item ordering data over the network. ### Claim 12 A method, comprising: storing at least one item in a storage container of a robot having a generally cylindrical shape; delivering the at least one item to a destination zone with the robot via autonomous navigation, the autonomous navigation including determining the presence of obstacles in the robot's path with at least one forward facing image based depth sensor; attempting to authenticate a delivery target for the item by the robot detecting an open door at the destination zone; and when the delivery target is authenticated, presenting the item to the delivery target by operation of the robot. ### Claim 13 (depends on 12) The method of claim 12, wherein: attempting to authenticate the delivery target further includes actions selected from the group of: receiving a predetermined input from a person at a human interface on the robot; a video interface transaction; input of an identification given to a person at an operating location of the robot. ### Claim 14 (depends on 12) The method of claim 12, wherein: the storage container is lockable; and the controller is further configured to unlock the container once authentication is complete. ### Claim 15 (depends on 12) The method of claim 12, wherein: presenting the item to the delivery target includes actions selected from the group of: unlocking the storage container and opening the storage container to display the item. ### Claim 16 A robot for delivering items to a destination zone, comprising: a generally cylindrical shape; lockable storage container; at least two image based depth sensor mounted proximate a top end of the robot having different vertical field of view orientations; a controller configured to determine if a door in front of the robot has been opened; and an authentication system to authenticate a delivery target for the item in response to the robot detecting the opening of a door at a destination zone. ### Claim 17 (depends on 16) The robot of claim 16, further including: a human interface device for receiving inputs from a person; and the authentication system authenticates the delivery target further in response to inputs from the human interface device. ### Claim 18 (depends on 16) The robot of claim 16, further including: the authentication system authenticates the delivery target further in response to personal identification items given to persons by an establishment operating the robot.