Patent Publication Number: US-2023153935-A1

Title: Systems and methods for delivering merchandise using autonomous ground vehicles and unmanned aerial vehicles

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation application of U.S. Application No. 17/480,595 filed Sep. 21, 2021, which is a continuation application of U.S. Application No. 15/946,167, filed Apr. 5, 2018, which claims priority to, and the benefit of, U.S. Provisional Application No. 62/486,060, filed Apr. 17, 2017, the contents of all of which are incorporated herein by reference in their entirety. 
    
    
     TECHNICAL FIELD 
     This invention relates generally to the delivery of merchandise, and more particularly, to the delivery of merchandise using autonomous ground vehicles and unmanned aerial vehicles. 
     BACKGROUND 
     In the retail setting, one important challenge is the delivery of merchandise to customers. Frequently, customers will order merchandise for delivery to their residence or other delivery location within a certain scheduled time. Various delivery methods are available, including the use of a retailer’s delivery vehicles and third party delivery services. Recently, efforts have been made to employ autonomous ground vehicles to complete deliveries to customers. 
     The use of autonomous ground vehicles, however, presents its own challenges. More specifically, autonomous ground vehicles will often encounter obstacles that may prevent them from completing the delivery, such as, for example, motor vehicles, people, animals, road construction, curbs, and closed gates. If the autonomous ground vehicle is unable to complete a delivery due to an obstacle, it is desirable to have a back-up mechanism available to complete the delivery. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Disclosed herein are embodiments of systems, apparatuses and methods pertaining to delivering merchandise using autonomous ground vehicles in cooperation with unmanned aerial vehicles. This description includes drawings, wherein: 
         FIGS.  1 A and  1 B  are schematic diagrams in accordance with some embodiments; 
         FIG.  2    is a block diagram in accordance with some embodiments; 
         FIG.  3    is a flow diagram in accordance with some embodiments; and 
         FIG.  4    is a flow diagram in accordance with some embodiments. 
     
    
    
     Elements in the figures are illustrated for simplicity and clarity and have not necessarily been drawn to scale. For example, the dimensions and/or relative positioning of some of the elements in the figures may be exaggerated relative to other elements to help to improve understanding of various embodiments of the present invention. Also, common but well-understood elements that are useful or necessary in a commercially feasible embodiment are often not depicted in order to facilitate a less obstructed view of these various embodiments of the present invention. Certain actions and/or steps may be described or depicted in a particular order of occurrence while those skilled in the art will understand that such specificity with respect to sequence is not actually required. The terms and expressions used herein have the ordinary technical meaning as is accorded to such terms and expressions by persons skilled in the technical field as set forth above except where different specific meanings have otherwise been set forth herein. 
     DETAILED DESCRIPTION 
     Generally speaking, pursuant to various embodiments, systems, apparatuses and methods are provided herein useful to delivering merchandise using autonomous ground vehicles in cooperation with unmanned aerial vehicles. In some embodiments, there is provided a system including: an autonomous ground vehicle (AGV) including: a motorized locomotion system configured to facilitate movement of the AGV; a storage area configured to hold at least one merchandise item; at least one sensor configured to detect obstacles in a direction of travel of the AGV and to stop the AGV if the at least one sensor detects an obstacle in the direction of travel; a first transceiver configured for wireless communication; a first control circuit operatively coupled to the motorized locomotion system, the at least one sensor, and the first transceiver, the first control circuit configured to operate and move the AGV; an unmanned aerial vehicle (UAV) including: a motorized flight system configured to facilitate flight of the UAV; a gripper mechanism configured to selectively grasp, hold, and release a merchandise item; a second transceiver configured for wireless communication; an optical sensor configured to capture a plurality of images; and a second control circuit operatively coupled to the motorized flight system, the gripper mechanism, the second transceiver, and the optical sensor, the second control circuit configured to operate and fly the UAV; and a third control circuit configured to: instruct movement of the AGV along a first delivery route from a starting location to a delivery location; determine if the AGV has stopped based on the detection of an obstacle by the at least one sensor; and if the AGV stop satisfies a predetermined condition: instruct the UAV to retrieve a merchandise item to be delivered from the storage area of the AGV using the gripper mechanism; calculate a second delivery route for the UAV from the stopped AGV location to the delivery location; and instruct the UAV to deliver the merchandise item to be delivered from the AGV’s stopped location to the delivery location using the optical sensor to capture images of the delivery location. 
     In one form, in the system, the third control circuit may be configured to: calculate a third delivery route to the delivery location from the AGV’s stopped location if the AGV encounters an obstacle and the stop does not satisfy the predetermined condition; and instruct the AGV to move along the third delivery route to the delivery location to complete the delivery. Further, in the system, the predetermined condition may include completing the delivery within a predetermined delivery time; the third control circuit may be unable to calculate a third delivery route for the AGV in which the delivery is completed within the predetermined delivery time such that the predetermined condition is not satisfied; and the third control circuit may instruct the UAV to complete the delivery. In addition, in the system, the predetermined condition may include a predetermined maximum wait time interval such that the UAV is instructed to retrieve the merchandise item to be delivered if an obstacle causes the AGV to be stopped for a length of time exceeding the predetermined maximum wait time interval. 
     In one form, the system may further include a mounting area on the AGV configured to support a UAV on the AGV and to secure it during movement of the AGV. Further, in the system, the third control circuit may be configured to instruct the UAV to return to the mounting area on the AGV following completion of the delivery by the UAV, the UAV using its optical sensor to return to the mounting area. In addition, the third control circuit may be physically located at a command and control center remote from the AGV and the UAV, the third control circuit in wireless communication with the first and second control circuits. Also, in the system, the third control circuit may define a unitary control circuit with either the first or second control circuits such that the third control circuit is physically incorporated into either the AGV or UAV. 
     In one form, in the system, the at least one sensor may include at least one of laser, ultrasound, optical, and infrared sensors. Further, the obstacles in the direction of travel of the AGV may include at least one of motor vehicles, people, animals, road construction, curbs, and closed gates. In addition, in the system, the AGV and UAV may each further include a GPS tracking device, and the third control circuit may be configured to track the locations of the AGV and the UAV. 
     In another form, there is provided a method for delivery of merchandise using autonomous ground vehicles in cooperation with unmanned aerial vehicles, the system including: providing an autonomous ground vehicle (AGV) including: a motorized locomotion system configured to facilitate movement of the AGV; a storage area configured to hold at least one merchandise item; at least one sensor configured to detect obstacles in a direction of travel of the AGV and to stop the AGV if the at least one sensor detects an obstacle in the direction of travel; a first transceiver configured for wireless communication; and a first control circuit operatively coupled to the motorized locomotion system, the at least one sensor, and the first transceiver, the first control circuit configured to operate and move the AGV; providing an unmanned aerial vehicle (UAV) including: a motorized flight system configured to facilitate flight of the UAV; a gripper mechanism configured to selectively grasp, hold, and release a merchandise item; a second transceiver configured for wireless communication; an optical sensor configured to capture a plurality of images; and a second control circuit operatively coupled to the motorized flight system, the gripper mechanism, the second transceiver, and the optical sensor, the second control circuit configured to operate and fly the UAV; instructing movement of the AGV along a first delivery route from a starting location to a delivery location; determining if the AGV has stopped based on the detection of an obstacle by the at least one sensor; and if the AGV stop satisfies a predetermined condition: instructing the UAV to retrieve a merchandise item to be delivered from the storage area of the AGV using the gripper mechanism; calculating a second delivery route for the UAV from the stopped AGV location to the delivery location; and instructing the UAV to deliver the merchandise item to be delivered from the AGV’s stopped location to the delivery location using the optical sensor to capture images of the delivery location. 
     Referring to  FIGS.  1 A and  1 B , there is shown a schematic representation of a delivery system  100  using an AGV as a primary delivery mechanism and a UAV as a backup if an obstacle blocks the AGV. In other words, the delivery system generally involves cooperation of an AGV and a UAV. In many circumstances, it is contemplated that an AGV will be able to make the delivery itself without assistance. However, in some circumstances, the AGV may encounter an obstacle that it cannot easily avoid or circumvent. In such circumstances, it is contemplated that a UAV will complete the delivery by retrieving the merchandise from the AGV and transporting it to the delivery location. 
     As a simple example, in some circumstances, the AGV may be able to travel most of the delivery route but cannot complete the last leg, i.e., the last 50 feet to the delivery location. For example, the AGV might get struck at the gate in front of a customer’s residence. So, the AGV could travel all the way to the gate, and the UAV can then grab the package and deliver it to the residence. 
     The system  100  includes an AGV  102  configured to deliver merchandise by travelling from a starting location to a delivery location. It is generally contemplated that the AGV will deliver merchandise from a retailer to a delivery location (such as the customer’s residence). The AGV  102  may travel from a starting location at a retail store, a delivery vehicle (that may transport multiple AGVs  102  to certain locations), a product distribution center, or any other suitable location. The AGV  102  may then travel along a delivery route to a delivery location, such as a customer residence, customer business location, or other customer designated pick up location. 
     It is generally contemplated that the AGV  102  includes certain conventional components that allow it to transport merchandise  107 . For example, the AGV  102  includes a motorized locomotion system  104  configured to facilitate movement of the AGV  102 . In one form, it is generally contemplated that this motorized locomotion system  104  includes wheels, a motor, a drive mechanism coupled to the wheels, and a power source to enable operation of the wheels and drive mechanism. Further, the AGV  102  includes a storage area  106  configured to hold at least one package/merchandise item  107 . As should be evident, the storage area  106  may be any of various physical sizes and geometries, and the AGV  102  may be configured to make one delivery at a time before picking up an additional merchandise item  107  or may make multiple deliveries of merchandise items  107  before replenishing its storage area  106 . 
     The AGV  102  also includes sensor(s)  108  configured to detect obstacles in a direction of travel of the AGV  102  and to stop the AGV  102  if obstacles are detected. For example, some types of obstacle detection sensors may include laser, ultrasound, optical, and infrared sensors, although any suitable obstacle detection sensor may be used. Further, some examples of types of obstacles the AGV  102  may encounter include motor vehicles, people, animals, road construction, curbs, closed gates, and any unpredictable obstructions, but these examples are not intended to encompass an exhaustive list of possible obstacles. 
     In addition, the AGV  102  includes a transceiver  110  for wireless communication. In one form, as addressed further below, it is contemplated that the AGV  102  may communicate with a command and control center  112  remote from the AGV  102 . It is also contemplated that the AGV  102  may communicate with a UAV  114  as an alternative to (or in addition to) communicating with the command and control center  112 . 
     As shown in  FIG.  1   , the system  100  also includes UAV  114  configured to deliver merchandise  107  by travelling from the AGV  102  to the delivery location. As stated above, the UAV  114  operates as a back-up delivery mechanism in the event that the AGV  102  encounters an obstacle that prevents the AGV  102  from completing the delivery. In one form, the UAV  114  may be mounted on and transported by the AGV  102  during the delivery. In another form, it is contemplated that the AGV  102  may communicate when it encounters an obstacle, and the UAV  114  may travel to the AGV  102  to pick up the merchandise  107  to be delivered and to then fly to the delivery location to complete the delivery. 
     It is generally contemplated that the UAV  114  includes certain conventional components that allow it to transport merchandise  107 . For example, the UAV  114  includes a motorized flight system  116  configured to facilitate flight of the UAV  114 . In one form, it is generally contemplated that this motorized flight system  116  includes props, a navigational guidance system coupled to the props, a power source to enable operation of the props and navigational guidance system, and landing gear. Further, the UAV  114  includes a gripper mechanism  118  configured to selectively grasp, hold, and release a merchandise item  107 . This gripper mechanism  118  may be any of various types, such as grabber claws, magnetic devices, etc., as may be suitable to retrieve a merchandise item  107 , hold it during transport, and then release it at the delivery location. The UAV  114  also includes a transceiver  120  configured for wireless communication, such as for communication with the AGV  102  and/or with command and control center  112 . 
     Further, the UAV  114  includes an optical (or imaging) sensor  122  configured to capture a plurality of images. The optical sensor  122  may be any of various types of cameras, video devices, etc., that may be configured to capture still images and/or image sequences. In one form, it is contemplated that these images may be transmitted to the command and control center  112  to enable a pilot to navigate the UAV  114  in certain circumstances. For example, images may be captured of the AGV storage area  106  to allow a pilot operating the UAV  114  to grab the merchandise item  107 . As another example, the optical sensor  122  may capture images of the landing area about the delivery location to allow a pilot to choose a suitable landing area and land the drone. Further, the optical sensor  122  may capture images of an area on the AGV  102  for mounting the UAV  114 , thereby allowing a pilot to land the UAV  114  in this area following completion of a delivery. 
     Referring to  FIG.  2   , there is shown a system  200  for the delivery of merchandise, such as from a retailer to a customer. The system  200  includes an AGV  202  and a UAV  204  that cooperate with one another to complete the delivery. In some circumstances, the AGV  202  may be able to transport merchandise along a delivery path to a destination without any action required from the UAV  204 . In other words, the UAV  204  operates as the primary delivery mechanism. However, in some circumstances, the AGV  202  may encounter an obstacle that prevents it from completing delivery. In these circumstances, it is contemplated that the UAV  204  will complete the delivery to the destination by flying over any obstacles, i.e., it will operate as a secondary delivery mechanism, if necessary. As described further below, the system  200  may include a remote command and control center  206  that controls, in whole or in part, the operation of the AGV  202  and/or the UAV  204 . 
     The AGV  202  includes various components in order to deliver merchandise from a starting location (such as a retailer’s store, product distribution center, etc.) to a destination location (such as a customer residence or business location). The AGV  202  includes a conventional motorized locomotion system  208  for facilitating movement of the AGV  202 . It is generally contemplated that the motorized locomotion system  208  may include wheels (or tracks or legs), a motor, a drive mechanism, and a power source (such as a battery). In one form, the motorized locomotion system  208  may be navigated along a preprogrammed or calculated delivery route from the starting location to the destination location (or to a waypoint near the destination location). Further, in one form, the motorized locomotion system  208  may be navigated by a human operator at the remote command and control center  206  as it nears the destination (such as from a waypoint near the destination to the final destination location) because more expert navigation may be required at this stage. 
     The AGV  202  also includes a storage area  210  for holding the merchandise item(s) being delivered. The merchandise items may be of any type suitable for delivery, such as, for example, clothing, grocery, sporting goods, general retail merchandise, etc. In addition, the storage area  210  may be refrigerated and/or insulated for the delivery of perishable items, such as frozen or refrigerated grocery items. Also, the storage area  210  may be of any of various sizes and shapes. It may be relatively small for delivery of a single item per delivery and/or to conserve battery power. Alternatively, it may be relatively large to allow the storage of multiple merchandise items for delivery to different destinations. 
     The AGV  202  further includes sensor(s)  212  for navigation and for detecting obstacles in the AGV’s path as it travels along its delivery route and to permit the AGV  202  to stop if the sensor(s) detect an obstacle in the AGV’s path. These sensor(s)  212  may be of any of various types, including compasses and other navigational aids, gyroscopes, laser range finders, ultrasound range finders, infrared sensors, and optical/imaging sensors (such as video/camera devices). It is generally contemplated that the AGV  202  includes sensor(s)  212  that allow the AGV  202  to automatically stop when encountering an obstacle. Some types of obstacles may include motor vehicles, people, animals, road construction, curbs, closed gates, and any unpredictable obstructions. It is also generally contemplated that the AGV  202  may include optical/imaging sensors  212  to permit a human operator to remotely guide the AGV  202  at the end of the delivery to its final merchandise drop-off location. 
     In addition, the AGV  202  includes a transceiver  214  or other suitable communication device for wireless communication. It is generally contemplated that the AGV  202  will communicate with the UAV  204  and/or with the command and control center  206 . For example, when the AGV  202  encounters an obstacle that prevents it from completing the delivery, it may communicate with the UAV  204  to retrieve the merchandise to be delivered and to complete the delivery. Alternatively, the AGV  202  may communicate with the command and control center  206  when it encounters an obstacle (and the center  206  may then communicate with the UAV  204 ), and/or the AGV  202  may communicate with the command and control center  206  at other times during delivery (such as upon completion of the delivery). Further, the AGV  202  may include a GPS tracking device  213 , such as for tracking of the location of the AGV  202  by the command and control center  206 . 
     The AGV  202  may also include a mounting area  215  so that a UAV  204  may be transported along with the AGV  202  during delivery. In other words, the AGV  202  may include a mounting area  215  for supporting the UAV  204  on the AGV  202  and to preferably secure it during movement of the AGV  202 . So, in one form, it is contemplated that the UAV  204  may be transported with the AGV  202  during deliveries and, when an obstacle is encountered, the UAV  204  may complete transportation of a merchandise item from the stopped AGV  202  to the destination location. In this form, the UAV  204  may recharge on the AGV  202  before and/or after completing a delivery. However, in another form, it is contemplated that the UAV  204  is not mounted on the AGV  202  but may instead be called from a remote location, as necessary. In other words, if the AGV  202  encounters an obstacle, a UAV  204  may be contacted (either directly by the AGV  202  or by a command and control center  206 ) and will travel to the stopped AGV to retrieve the merchandise item and complete the delivery. 
     The system  200  also includes a control circuit  216  that is operatively coupled to the motorized locomotion system  208 , the sensor(s)  212 , and the transceiver  214 , and the control circuit  216  is configured to generally operate the AGV  202 . Being a “circuit,” the control circuit  216  therefore comprises structure that includes at least one (and typically many) electrically-conductive paths (such as paths comprised of a conductive metal such as copper or silver) that convey electricity in an ordered manner, which path(s) will also typically include corresponding electrical components (both passive (such as resistors and capacitors) and active (such as any of a variety of semiconductor-based devices) as appropriate) to permit the circuit to effect the control aspect of these teachings. 
     Such a control circuit  216  can comprise a fixed-purpose hard-wired hardware platform (including but not limited to an application-specific integrated circuit (ASIC) (which is an integrated circuit that is customized by design for a particular use, rather than intended for general-purpose use), a field-programmable gate array (FPGA), and the like) or can comprise a partially or wholly-programmable hardware platform (including but not limited to microcontrollers, microprocessors, and the like). These architectural options for such structures are well known and understood in the art and require no further description here. This control circuit  216  is configured (for example, by using corresponding programming as will be well understood by those skilled in the art) to carry out one or more of the steps, actions, and/or functions described herein. 
     It is generally contemplated that the control circuit  216  will autonomously navigate and operate the AGV  202  (but possibly with instruction from a remote command and control center  206  in certain circumstances). In one form, the control circuit  216  uses input from the sensor(s)  212  to detect obstacles and to calculate and navigate a delivery route (and to recalculate and determine alternative delivery routes). As described further below, the control circuit  216  uses algorithms to determine the action to be taken when it encounters obstacles and other events during delivery. It is also contemplated that the control circuit  216  may employ artificial intelligence and machine learning capability such that it learns how to deal with events and obstacles as it encounters them during repeated delivery missions. For example, the control circuit  216  may use various inputs and factors with machine learning to develop predictions of the actions to take in view of obstacles. Machine learning algorithms may take into account inputs that can be used to retrain the model to adapt to different obstacles and other inputs that it might encounter along a delivery route. 
     By one optional approach, the control circuit  216  may be operably coupled to a memory that can serve, for example, to non-transitorily store the computer instructions that, when executed by the control circuit  216 , cause the control circuit  216  to behave as described herein. In one form, the control circuit  216  may also operably couple to a network interface that can compatibly communicate via whatever network or networks may be appropriate to suit the particular needs of the control circuit  216 . However, in another form, it is generally contemplated that the control circuit  216  may not be directly coupled to a network interface and network because instead the AGV  202  may be in communication with a command and control center  206  that may be coupled to a network interface and network. 
     The system  200  also includes a UAV  204 , which serves as a back-up delivery apparatus. The UAV  204  includes various components in order to deliver merchandise from the AGV’s location (when it is blocked by an obstacle) to the destination location. The UAV  204  includes a motorized flight system  218  configured to facilitate flight of the UAV  204 . For example, the motorized flight system  218  may be in the form of propellers, a drive mechanism, a motor, landing gear, and a power source (such as a battery). 
     Further, the UAV  204  includes a gripper mechanism  220  for selectively grasping, holding, and releasing the merchandise item being delivered. It is generally contemplated that the gripper mechanism  220  may be any of various types, such as, for example, grabbing claws (that may include a cable attached to the UAV  204  and multiple talons), robotic gripping arms, clamps, magnets, etc. The gripper mechanism  220  is arranged so as to retrieve the merchandise item from the storage area  210 , retain the merchandise item as the UAV  204  flies to the destination location, and drop off the merchandise item at the destination location. 
     In addition, the UAV  204  includes a transceiver  222  or other two-way communication device for wireless communication. It is generally contemplated that the UAV  204  will communicate with the AGV  202  and/or with the command and control center  206 . For example, if the AGV  202  encounters an insurmountable obstacle, the UAV  204  may receive a communication either directly from the AGV  202  (or indirectly from AGV  202  via the command and control center  206 ) that instructs the UAV  204  to retrieve the merchandise item from the AGV  202  and complete the delivery. It is also contemplated that the UAV may communicate with the AGV  202  and/or the command and control center  206  at other times during delivery (such as upon completion of the delivery or upon possibly returning to the AGV  202  after the delivery). Further, the UAV  204  may include a GPS tracking device  223 , such as for tracking of the location of the UAV  204  by the command and control center  206 . 
     The UAV  204  also includes sensors(s) facilitating flight of the UAV  204  and delivery of merchandise items. It is generally contemplated that the UAV  204  may include conventional position and movement sensors (such as compasses, gyroscopes, accelerometers, etc.) that provide information to assist in navigation of the craft. The UAV  204  further includes an optical/imaging sensor  224  configured to capture a plurality of images. The optical/imaging sensor  224  may be any of various types of video/camera devices. It is contemplated that the imaging sensor  224  will capture images at various stages of the flight, such as during retrieval of a merchandise item being delivered from the AGV storage area  210 , landing at the destination location, and possibly returning and landing on the AGV  202  following delivery. At these particular stages, it is contemplated that the UAV  204  may be in communication with a human operator at the command and control center  206 , whose expert guidance may be required to navigate the UAV  204 . At other times, the UAV  204  may operate and fly autonomously. 
     In addition, the UAV  204  includes a control circuit  226  that is operatively coupled to the motorized flight system  218 , the gripper mechanism  220 , the transceiver  222 , and the optical sensor  224 , and the UAV control circuit  226  is configured to operate and fly the UAV  204 . Like the AGV control circuit  216 , being a “circuit,” the UAV control circuit  226  therefore comprises structure that includes at least one (and typically many) electrically-conductive paths (such as paths comprised of a conductive metal such as copper or silver) that convey electricity in an ordered manner, which path(s) will also typically include corresponding electrical components (both passive (such as resistors and capacitors) and active (such as any of a variety of semiconductor-based devices) as appropriate) to permit the circuit to effect the control aspect of these teachings. 
     Such a control circuit  226  can comprise a fixed-purpose hard-wired hardware platform (including but not limited to an application-specific integrated circuit (ASIC) (which is an integrated circuit that is customized by design for a particular use, rather than intended for general-purpose use), a field-programmable gate array (FPGA), and the like) or can comprise a partially or wholly-programmable hardware platform (including but not limited to microcontrollers, microprocessors, and the like). These architectural options for such structures are well known and understood in the art and require no further description here. This control circuit  216  is configured (for example, by using corresponding programming as will be well understood by those skilled in the art) to carry out one or more of the steps, actions, and/or functions described herein. 
     It is generally contemplated that the control circuit  226  will autonomously navigate and operate the UAV  204  (but possibly with instruction from a remote command and control center  206  in certain circumstances). In one form, the control circuit  226  uses input from its sensor(s)  212  to determine its position (assuming it is mounted on the AGV  202 ) and may calculate and navigate a delivery route to the destination location. In another form, the command and control center  206  may transmit information to the UAV  204  information regarding the AGV location, the destination location, and the delivery route. 
     Like the AGV control circuit  216 , the UAV control circuit  226  may be operably coupled to a memory that can serve, for example, to non-transitorily store the computer instructions that, when executed by the control circuit  226 , cause the control circuit  226  to behave as described herein. In one form, the control circuit  226  may also operably couple to a network interface that can compatibly communicate via whatever network or networks may be appropriate to suit the particular needs of the control circuit  226 . However, in another form, it is generally contemplated that the control circuit  226  may not be directly coupled to a network interface and network because instead the UAV  204  may be in communication with a command and control center  206  that may be coupled to a network interface and network. 
     Next, the system  200  optionally includes a command and control center  206  in communication with both the AGV  202  and UAV  204 . In one form, it is contemplated that the system  200  need not include a remote command and control center  206 , but instead, the system  200  is controlled and operated primarily by either the AGV control circuit  216  or the UAV control circuit  226 . However, in the preferred form, the system does include the command and control center  206  that communicates with and controls the operation of the AGV  202  and UAV  204  in some circumstances (such as by a human operator). The command and control center  206  may include a communication interface  228 . This interface  228  may include various conventional components for communicating with the AGV  202  and UAV  204  and facilitating remote operation of the AGV  202  and UAV  204 , such as joysticks, virtual reality and augmented reality interfaces, voice commands, radio transmitters/receivers/transceivers, mobile computing devices, computer programs, etc. 
     As indicated, the command and control center  206  preferably controls the operation of the AGV  202  and UAV  204  in certain circumstances, which is performed via control circuit  230 . More specifically, the control circuit  230  instructs movement of the AGV  202  along a delivery route from a starting location to a delivery location and determines if the AGV  202  has stopped based on the AGV’s detection of an obstacle (such as via a communication from the AGV  202 ). Then, under certain established conditions or circumstances, the control circuit  230  instructs the UAV  204  to retrieve the merchandise item to be delivered from the AGV storage area  210  using the gripper mechanism  220 , calculate a delivery route for the UAV  204  from the stopped AGV location to the delivery location, and instruct the UAV  204  to deliver the merchandise item from the AGV’s stopped location to the delivery location. 
     Assuming the UAV  204  completes a delivery, the UAV  204  may either return to the AGV  202  or may be instructed to proceed to another designated location. In one form, the control circuit  230  may be configured to instruct the UAV  204  to return to the mounting area  215  on the AGV  202  following completion of the delivery by the UAV  204 . In this form, it is assumed that the AGV  202  has a mounting area  215  and the UAV  204  is generally travelling along with the AGV  202 . Further, the UAV  204  may use its optical sensor  224  when returning to and landing at the mounting area  215 , and it is contemplated that a human operator at a command and control center  206  may assist or guide this landing at the mounting area  215 . 
     It is also contemplated that alternative delivery routes for the AGV  202  may be calculated prior to action by the UAV  204 . In other words, the AGV  202  may be re-routed when it encounters an obstacle. For example, the control circuit  230  may calculate an alternative delivery route to the delivery location from the AGV’s stopped location if the AGV encounters an obstacle and the stop does not satisfy the predetermined condition. The control circuit  230  may then instruct the AGV  202  to move along the alternative delivery route to the delivery location to complete the delivery. 
     Any of various conditions or circumstances may be set to trigger action by the UAV  204 . So, for example, the UAV  204  may complete the delivery if the AGV  202  cannot complete the delivery on time by taking an alternative route. In other words, the condition may be in the form of completing the delivery within an established delivery time. In one form, if the control circuit  230  is unable to calculate an alternative delivery route for the AGV  202  in which the delivery is completed within the established delivery time, the control circuit  230  may instruct the UAV  204  to complete the delivery. 
     As another example, the established condition or circumstance may be a maximum time that is established for the AGV  202  to wait for an obstacle. In other words, the condition may be in the form of a predetermined maximum wait time interval such that the UAV  204  is instructed to retrieve the merchandise item to be delivered if an obstacle causes the AGV  202  to be stopped for a length of time exceeding the predetermined maximum wait time interval. This condition may not require a calculation of alternative delivery routes. 
     More specifically, in this maximum wait time example, when sensors  212  on the AGV  202  detect an object blocking the route to complete the delivery, the AGV  202  may start a timer. Once the time on the timer for the blockage exceeds a threshold, the AGV  202  notifies the command and control center of the blockage. If the AGV  202  has a mounted UAV  204 , the AGV  202  may communicate with the UAV through Bluetooth, internet hotspot, or radio to activate the UAV gripper device  220  to extract the package. In this example, the UAV  204  may activate a top up facing camera  224  to see if there are overhead obstructions. Assuming there are no overhead obstructions, the AGV  202  or the UAV  204  may transmit their location back to the command and control center  206 . The command and control center  206  may then use the AGV/UAV location and the destination location to compute a new route for the UAV  204  to complete the delivery mission. 
     In this example, the command and control center  206  may then transmit the route to the UAV  204  for it to complete the mission. The UAV  204  may then grab and lift the package/merchandise to be delivered from the AGV  202  and launch itself to deliver the package. Once the destination is reached, the UAV  204  may communicate to the AGV  202  and the command and control center  206  that the delivery is complete. Further, the AGV  202  may communicate its location and the UAV  204  may communicate its location back to the command and control center  206  to calculate the route for the UAV  204  to land back on top of the AGV  202 . Once the UAV  204  is within range of the AGV  202 , the UAV cameras  224  may be used to position the UAV  204  above the AGV  202  for landing. Once the UAV  204  is landed, the AGV  202  may recharge the UAV  204  by connecting a charger on the AGV  202  to the UAV  204  battery charging strips in the UAV landing gear. If the AGV  202  has another package to deliver, the UAV  204  may assist in another package delivery. 
     As stated above, the control circuit  230  may be remotely located at a command and control center  206 . In other words, in one form, the control circuit  230  may be physically located at a command and control center  206  remote from the AGV  202  and the UAV  204 , and the control circuit  230  is in wireless communication with the AGV and UAV control circuits  216 ,  226 . However, in another form, the control circuit  230  may define a unitary control circuit with either the AGV or UAV control circuits  216 ,  226  such that the control circuit  230  is physically incorporated into either the AGV  202  or UAV  204 . 
     Assuming a separate control circuit  230  at the command and control center  206 , the control circuit  230  is communicatively coupled to the AGV  202  and UAV  204 . Like the AGV control circuit  216  and the UAV control circuit  226 , being a “circuit,” the control circuit  230  therefore comprises structure that includes at least one (and typically many) electrically-conductive paths (such as paths comprised of a conductive metal such as copper or silver) that convey electricity in an ordered manner, which path(s) will also typically include corresponding electrical components (both passive (such as resistors and capacitors) and active (such as any of a variety of semiconductor-based devices) as appropriate) to permit the circuit to effect the control aspect of these teachings. 
     Such a control circuit  230  can comprise a fixed-purpose hard-wired hardware platform (including but not limited to an application-specific integrated circuit (ASIC) (which is an integrated circuit that is customized by design for a particular use, rather than intended for general-purpose use), a field-programmable gate array (FPGA), and the like) or can comprise a partially or wholly-programmable hardware platform (including but not limited to microcontrollers, microprocessors, and the like). These architectural options for such structures are well known and understood in the art and require no further description here. This control circuit  230  is configured (for example, by using corresponding programming as will be well understood by those skilled in the art) to carry out one or more of the steps, actions, and/or functions described herein. 
     By one optional approach, the control circuit  230  operably couples to a memory  232 . This memory  232  may be integral to the control circuit  230  or can be physically discrete (in whole or in part) from the control circuit  230 , as desired. This memory  232  can also be local with respect to the control circuit  230  (where, for example, both share a common circuit board, chassis, power supply, and/or housing) or can be partially or wholly remote with respect to the control circuit  230  (where, for example, the memory  232  is physically located in another facility, metropolitan area, or even country as compared to the control circuit  230 ). 
     This memory  232  can serve, for example, to non-transitorily store the computer instructions that, when executed by the control circuit  230 , cause the control circuit  230  to behave as described herein. As used herein, this reference to “non-transitorily” will be understood to refer to a non-ephemeral state for the stored contents (and hence excludes when the stored contents merely constitute signals or waves), rather than volatility of the storage media itself, and hence includes both non-volatile memory (such as read-only memory (ROM)) as well as volatile memory (such as an erasable programmable read-only memory (EPROM).) 
     In this example, the control circuit  230  may also operably couple to a network interface  234 . So configured, the control circuit  230  can communicate with other elements (both within the system  200  and external thereto) via the network interface  234 . Network interfaces, including both wireless and non-wireless platforms, are well understood in the art and require no particular elaboration here. This network interface  234  can compatibly communicate via whatever network or networks  236  may be appropriate to suit the particular needs of a given application setting. Both communication networks and network interfaces are well understood areas of prior art endeavor and therefore no further elaboration will be provided here in those regards for the sake of brevity. 
     Referring to  FIG.  3   , there is shown a process  300  for delivering merchandise using a combination AGV-UAV delivery system. The process  300  uses an AGV as the primary delivery mechanism with the UAV serving as a back-up mechanism if the AGV encounters certain types of obstacles. The process  300  may use some or all of the components of the systems  100  and  200  described above. 
     At block  302 , an AGV transporting the merchandise item is provided for delivery to a delivery location. It is generally contemplated that the AGV will include components needed for performing the delivery, including a motorized locomotion system, a storage area for holding the merchandise item, sensor(s) to detect obstacles in the delivery path, a transceiver for wireless communication, and a control circuit for moving and operating the AGV. These components may be those described above with respect to systems  100  and  200 . The AGV is the primary delivery mechanism and will transport the merchandise item along the entire delivery route from the starting location to the delivery location, if practicable. 
     At block  304 , a UAV is provided to act as a back-up delivery mechanism. It is also contemplated that the UAV will include components needed for performing the delivery, including a motorized flight system, a gripper mechanism for retrieving the merchandise item from the AGV, a transceiver for wireless communication, an optical/imaging sensor for capturing images, and a control circuit for operating and flying the UAV. These components may be those described above with respect to systems  100  and  200 . In one form, it is contemplated that the UAV may be transported by the AGV, i.e., ride piggy-back along with the AGV. The UAV is the back-up delivery mechanism if the AGV encounters a certain type of obstacle and will transport the merchandise item from the stopped AGV to the delivery location. 
     At block  306 , the AGV is instructed to move along a delivery route from a starting location to a delivery (or destination) location. In one form, it is contemplated that the AGV may be programmed to deliver (or may calculate a delivery route) to a waypoint near the final merchandise drop-off location. In this form, the process  300  contemplates the possible involvement of a human operator at a remote command and control center. The AGV may be instructed to travel autonomously to the waypoint, and the human operator may navigate the AGV to the final drop-off location. This involvement by a human operator may be desirable to make sure the AGV is expertly and accurately guided to the drop-off location. 
     At block  308 , the AGV stops in response to an obstacle in its delivery path. The AGV may encounter numerous obstacles along its delivery path (such as, for example, motor vehicles, people, animals, traffic, road and sidewalk obstacles, etc.). Some of these obstacles may be temporary in nature and may incur relatively minor delay by the AGV. However, some of these obstacles may be of a more permanent nature (such as a closed gate or a block road) or may incur a significant delay (such as a freight train or raised bridge). 
     At block  310 , it is determined if the AGV stop satisfies certain conditions. As a first example, the condition may involve a predetermined maximum wait time interval. In this example, once the AGV’s actual measured wait time exceeds this threshold, the condition is satisfied, and the UAV will be contacted to complete this delivery. This threshold may be based on a single wait time or based on cumulative wait times for multiple obstacles encountered during the delivery. For example, the predetermined maximum wait time interval may be one hour (which may constitute the maximum amount of delay allowed in order to satisfy a delivery schedule), and this one hour period may be exceeded based on the cumulative amount of delay (such as three separate stops of 15 minute, 20 minutes, and 25 minutes wait time). Alternatively, the condition may apply the threshold to each individual stop such that one stop exceeding the one hour wait time is required before the condition is satisfied. 
     Another example of a condition involves calculating an alternative route about an obstacle and comparing the new estimated delivery time with a scheduled delivery time. In this example, when the AGV encounters an obstacle, it calculates alternative routes to the delivery location, as well as an estimated delivery time for each alternative route. It then compares the estimated delivery times for alternative routes with a threshold delivery time (such as the latest scheduled time the delivery can be made). In this example, once all of the estimated delivery times exceed the threshold delivery time, the condition is satisfied, and the UAV will be contacted to complete this delivery. 
     In another example, the condition may involve the length of time estimated for the UAV to complete the delivery. This condition may involve a minimum time threshold for completion of the delivery. If the AGV has not completed the delivery by a certain time (such as the latest scheduled delivery time minus the minimum time threshold), the condition is satisfied, and the UAV will be contacted to complete this delivery. 
     Further, as another example, the UAV may be limited in the distance it can travel, such as based on limits arising from its battery. In other words, the UAV may not be able to fly long distances, especially with heavy objects, because its battery will not be able to provide sufficient power. Accordingly, a maximum UAV flight distance may be incorporated into the conditions/algorithms/requirements. If the AGV cannot complete the delivery and the remaining distance to the waypoint or delivery location exceeds the maximum flight distance, the delivery mission may be aborted entirely. 
     As should be evident, numerous types of conditions can be established to trigger when the UAV will take over and complete the delivery. These conditions may involve such factors and inputs as scheduled delivery times, amount of delay caused by obstacle(s), estimated travel time of the AGV along alternative routes, and estimated flight time of the UAV from the AGV’s current position to the delivery location. Further, in other algorithms, the conditions may involve other considerations, such as the remaining battery power of the AGV and/or the UAV (e.g., a low threshold AGV battery power may trigger the condition), real time traffic conditions (e.g., heavy traffic may affect calculation of alternative routes), weight of the merchandise (e.g., certain heavy merchandise may exceed a maximum UAV carrying capacity), and scheduled delivery times for subsequent deliveries (e.g., it may be desirable to have the UAV complete an earlier delivery in order to have sufficient time to complete later deliveries on time). 
     At block  312 , alternative delivery route(s) may be calculated for the AGV to avoid an obstacle. As addressed above, calculating whether alternative routes for the AGV are available (and estimated delivery times for those alternative routes) may be part of determining whether the condition(s) are satisfied. It is generally contemplated that any of various types of vehicle traffic navigation and mapping software may be used. This software may select routes for the AGV based on real time traffic conditions and route information. Further, it is contemplated that these alternative routes and estimated arrival times may be calculated by either an AGV control circuit or by a control circuit at a command and control center. 
     At block  314 , if the certain conditions are met, the UAV is instructed to retrieve the merchandise item to be delivered from the AGV. In one form, as described above, the UAV may be mounted on and transported with the AGV. In another form, the UAV may be at a remote location such as at a command and control center and may fly to the AGV to retrieve the merchandise item. In either form, it is generally contemplated that the UAV will employ some gripper mechanism to retrieve the merchandise item. At this stage, it may be desirable to have a human operator guide and control the UAV and operate the gripper mechanism to retrieve the merchandise item. 
     At block  316 , if the certain conditions are met, a delivery route is calculated for the UAV from the location of the stopped AGV to the delivery location. In one form, it is contemplated that a control circuit (AGV, UAV, or command and control center) may calculate a flight path from the stopped AGV location to a waypoint near the final drop-off location. Any of various types of flight navigation software may be used, and this software may select routes for the UAV based on weather and other flight conditions. 
     At block  318 , if the certain conditions are met, the UAV is instructed to deliver the merchandise item to the delivery location by flying along the flight path. In one form, the UAV may fly autonomously to the waypoint, but it may be desirable to have a human operator at the command and control center take over and land the UAV after it arrives at the waypoint. The human operator may be able to more accurately guide the UAV to the final drop-off location using the UAV’s optical/imaging sensor(s). 
     At block  320 , once the UAV flies from the stopped AGV to the delivery location, the UAV may then return to the AGV following completion of the delivery. This optional step assumes that the AGV has been transporting the UAV. In this case, once the UAV returns to the AGV, the AGV may then complete subsequent deliveries (assuming it is carrying other merchandise items for delivery) or may return to a home base location (where it may pick up other merchandise items for delivery). The UAV may again be used if the AGV encounters obstacles while making subsequent deliveries. 
     Referring to  FIG.  4   , there is shown a process  400  for delivering merchandise using a combination AGV-UAV delivery system. The process  400  uses a combination AGV-UAV delivery approach and shows an algorithm with specific decisions made during the process  400 . The process  400  may use some or all of the components of the systems  100  and  200  described above. 
     The process  400  generally contemplates the use of a UAV and an AGV with components as described above. In this example, the UAV is mounted on the AGV and travels with the AGV during deliveries. Further, the AGV receives initial instructions to proceed autonomously to a predetermined waypoint near the final delivery location, and a delivery route to the waypoint has been calculated. It is contemplated that when the AGV reaches the waypoint, it will then communicate with a remote command and control center, and a human operator will then navigate the AGV to the final delivery location. 
     At block  402 , the AGV travels along the delivery route to the waypoint. As described above, the AGV includes any of various obstacle detection sensors that enable it to determine obstacles that may lie in its travel path. At block  404 , the AGV continually monitors to detect if an obstacle is blocking the AGV. At block  406 , if the AGV does not encounter any obstacles, it will continue to travel along the delivery route. If the AGV does not encounter any obstacles, it could arrive at the waypoint where the human operator can guide the AGV to complete the delivery. 
     At block  408 , the AGV has detected an obstacle blocking the AGV. At this point, it is contemplated that there will be a check to determine whether the AGV has enough battery power to complete the delivery and to travel to an appropriate rendezvous location (which may be the starting location). It is generally contemplated that the battery power will be periodically or continually monitored to avoid having the AGV become stranded at some inconvenient location where it may have to be retrieved later. At block  408 , while the AGV is detained by an obstacle and possibly waiting for the obstacle to move out of the way, the battery power will be checked to make sure that this wait will not cause it to become stranded. This check may be performed at the AGV or at the command and control center, and a predetermined minimum threshold may be used (such as, for example, 50% remaining battery power). 
     At block  410 , it is detected that the battery power level has reached a certain minimum threshold, i.e., there is insufficient battery power remaining. At this point, it is determined that the AGV will not complete the delivery and that the back-up delivery mechanism (the UAV) will complete the delivery. It is generally contemplated that a human operator may operate the UAV to retrieve the merchandise item. The UAV may then fly autonomously to the predetermined waypoint near the delivery location. At that time, the human operator may take over and navigate the UAV to the delivery location where the UAV may release the merchandise item. It is contemplated that the UAV will then fly back to the AGV where the human operator may guide it to the mounting area of the AGV. 
     At block  412 , the detected battery power level is sufficient for the AGV to complete the delivery and then proceed to the starting/rendezvous location. At this stage, the AGV waits for a certain minimum amount of time (such as five minutes) for the obstacle to pass. It is generally contemplated that many obstacles may be temporary in nature (such as traffic, moving cars or people, etc.) so that a short wait may be sufficient. At block  414 , the AGV detects that the obstacle has moved out of the way within this minimum amount of time. The AGV may then continue along the delivery route to complete the delivery. 
     At block  416 , the obstacle has not moved out of the way within the minimum amount of time. For example, the AGV has been waiting for more than five minutes. The AGV may have encountered a more permanent sort of obstacle, such as a closed gate. At this time, alternative delivery routes to the waypoint may be calculated, including calculation of the estimated travel time along any alternative delivery routes. If an alternative delivery route exists and the estimated travel time allows the AGV to arrive at the delivery location by the scheduled delivery time, the AGV will then take the alternative delivery route with the shortest travel time. At block  418 , an alternative delivery route exists satisfying these requirements, and the AGV proceeds along the alternative delivery route to complete the delivery. 
     At block  420 , an alternative delivery route does not exist that satisfies the above requirements. The AGV will continue to wait for the obstacle to pass or move out of the way. The estimated travel time of the AGV to the delivery location relative to the scheduled delivery time is monitored. As long as the estimated travel time allows the AGV to complete the delivery within the scheduled delivery time, the AGV will continue to wait for the obstacle to move out of the way. At block  422 , assuming the obstacle moves out of the way, the AGV continues to the delivery location. 
     However, at block  424 , once the estimated travel time no longer allows the AGV to complete the delivery by the scheduled delivery time, it is determined that the AGV will not complete the delivery. Instead, the UAV will complete the delivery. Again, it is generally contemplated that a human operator may operate the UAV to retrieve the merchandise item, the UAV may fly autonomously to the waypoint, a human operator may land the UAV at the delivery location, and the UAV may then fly back to the AGV. 
     It is generally contemplated that the steps and decisions of process  400  are repeated as the AGV encounters new obstacles. For example, a determination of battery power is made, at least, every time the AGV encounters an obstacle (and is monitored periodically as the AGV is waiting for the obstacle to pass). Also, the minimum wait time will restart every time the AGV encounters another obstacle. Further, the AGV may encounter obstacles along alternative delivery routes, and these steps and decisions will be repeated for obstacles encountered along alternative delivery paths. 
     Those skilled in the art will recognize that a wide variety of other modifications, alterations, and combinations can also be made with respect to the above described embodiments without departing from the scope of the invention, and that such modifications, alterations, and combinations are to be viewed as being within the ambit of the inventive concept.