SYSTEMS AND METHODS FOR COUPLING AUTONOMOUS GROUND VEHICLES DELIVERING MERCHANDISE

1 . A system of delivering merchandise using autonomous ground vehicles linking to other autonomous ground vehicles, the system comprising:

a plurality of autonomous ground vehicles, each autonomous ground vehicle (AGV) comprising:

a motorized locomotion system configured to facilitate movement of the AGV;

a storage area configured to hold at least one merchandise item;

a vehicle body having a first end and a second end;

a power source disposed in the vehicle body;

a first magnetic connector at the first end of the vehicle body and configured for linking to a magnetic connector of another AGV;

a second magnetic connector at the second end of the vehicle body and configured for linking to a magnetic connector of another AGV;

a transceiver configured for wireless communication and configured to transmit an authentication code;

an optical sensor configured to capture a plurality of images;

a first control circuit configured to selectively activate the first and second magnetic connectors for linking to other AGVs and to selectively deactivate the first and second connectors for disconnecting from other AGVs;

a subset of the plurality of AGVs defining a chain of AGVs moving in a direction of travel to deliver merchandise;

an unlinked AGV of the plurality of AGVs to be linked to an AGV at an end of the chain of AGVs;

a database containing a plurality of predetermined images of the first end of the AGV vehicle body and of the second end of the AGV vehicle body;

a second control circuit configured to:

receive an authentication code from the unlinked AGV;

determine that the authentication code from the unlinked AGV is an authorized authentication code to allow linking of the unlinked AGV to the chain of AGVs;

determine a first position, first speed, and first direction of the end AGV at the end of the chain of AGVs to be linked to the unlinked AGV;

determine a second position, second speed, and second direction of movement of the unlinked AGV;

calculate and transmit a third speed and third direction of movement to the unlinked AGV to facilitate approach to the end AGV;

receive a plurality of images from the optical sensor of one or both of the unlinked AGV and the end AGV;

compare the received plurality of images with predetermined images from the database using image recognition of predetermined features of the first and second ends of the AGV vehicle body to determine a proximity and orientation of the unlinked AGV with respect to the end AGV on approach to link; and

instruct the activation of a magnetic connector of one or both of the unlinked AGV and the end AGV to link the unlinked AGV to the end AGV when the unlinked AGV is within a predetermined proximity and orientation to the end AGV.

2 . The system of claim 1 , wherein the second control circuit is physically located at a command and control center remote from the chain of AGVs, the second control circuit in wireless communication with each first control circuit of the plurality of AGVs.

3 . The system of claim 1 , wherein the second control circuit defines a unitary and master control circuit with one of the first control circuits of the linked AGVs.

4 . The system of claim 1 , wherein:

each first magnetic connector of an AGV comprises a first coiled wire coupled to the AGV power source and receiving current, the first coiled wire wrapped around a first metal core to define a first electromagnetic connector;

each second magnetic connector of the AGV comprises a second coiled wire coupled to the AGV power source and receiving current, the second coiled wire wrapped around a second metal core to define a second electromagnetic connector; and

each first control circuit is configured to selectively adjust the polarity of the first electromagnetic connector or the second electromagnetic connector by adjusting the current through the first coiled wire or the second coiled wire.

5 . The system of claim 1 , wherein:

each first magnetic connector of an AGV comprises a first coiled wire coupled to the AGV power source and receiving current, the first coiled wire wrapped around a first metal core to define a first electromagnetic connector;

each second magnetic connector of the AGV comprises a second coiled wire coupled to the AGV power source and receiving current, the second coiled wire wrapped around a second metal core to define a second electromagnetic connector; and

each first control circuit is configured to selectively reverse the polarity of the first electromagnetic connector or the second electromagnetic connector.

6 . The system of claim 1 , wherein each first and second magnetic connector of each AGV of the plurality of AGV comprises a first and second multi-pole magnetic connector, each first and second multi-pole magnetic connector having two north poles alternating with two south poles.

7 . The system of claim 6 , wherein:

each multi-pole magnetic connector has a first predetermined orientation;

each multi-pole magnetic connector has a second predetermined orientation corresponding to a predetermined degree of rotation from the first orientation;

each multi-pole magnetic connector in the first predetermined orientation attracts another multi-pole magnetic connector in the second predetermined orientation; and

each multi-pole magnetic connector in the first predetermined orientation repels another multi-pole magnetic connector in the first predetermined orientation.

8 . The system of claim 1 , wherein each AGV further comprises a navigational system including:

a GPS unit configured to facilitate navigation of the AGV vehicle body; and

an ultra-wideband unit configured to facilitate navigation to and connection with the other AGVs of the plurality of AGVs.

9 . The system of claim 1 , wherein:

a first AGV is linked to a second AGV in the plurality of AGVs; and

the first control circuit of the first AGV is configured to transfer power from its power source to the second AGV through magnetic coupling between the first and second AGVs.

10 . The system of claim 1 , wherein the second control circuit is configured to:

communicate with the first control circuit of each AGV of the plurality of AGVs; and

instruct the first control circuit of each AGV to selectively connect with other AGVs to form a chain of AGVs and to selectively disconnect from other AGVs to unchain.

11 . The system of claim 1 , wherein the second control circuit is configured to:

detect an obstacle in a direction of travel of the linked AGVs;

communicate with the first control circuits of the AGVs instructing them to selectively disconnect from other AGVs to avoid the obstacle.

12 . A method of delivering merchandise using autonomous ground vehicles linking to other autonomous ground vehicles, the method comprising:

providing a plurality of autonomous ground vehicles, each autonomous ground vehicle (AGV) comprising:

a motorized locomotion system configured to facilitate movement of the AGV;

a storage area configured to hold at least one merchandise item;

a vehicle body having a first end and a second end;

a power source disposed in the vehicle body;

a first magnetic connector at the first end of the vehicle body and configured for linking to a magnetic connector of another AGV;

a second magnetic connector at the second end of the vehicle body and configured for linking to a magnetic connector of another AGV;

a transceiver configured for wireless communication and configured to transmit an authentication code;

an optical sensor configured to capture a plurality of images;

a first control circuit configured to selectively activate the first and second magnetic connectors for linking to other AGVs and to selectively deactivate the first and second connectors for disconnecting from other AGVs;

linking a subset of the plurality of AGVs to define a chain of AGVs moving in a direction of travel to deliver merchandise;

providing an unlinked AGV of the plurality of AGVs to be linked to an AGV at an end of the chain of AGVs;

providing a database containing a plurality of predetermined images of the first end of the AGV vehicle body and of the second end of the AGV vehicle body;

by a second control circuit:

receiving an authentication code from the unlinked AGV;

determining that the authentication code from the unlinked AGV is an authorized authentication code to allow linking of the unlinked AGV to the chain of AGVs;

determining a first position, first speed, and first direction of the end AGV at the end of the chain of AGVs to be linked to the unlinked AGV;

determining a second position, second speed, and second direction of movement of the unlinked AGV;

calculating and transmitting a third speed and third direction of movement to the unlinked AGV to facilitate approach to the end AGV;

receiving a plurality of images from the optical sensor of one or both of the unlinked AGV and the end AGV;

comparing the received plurality of images with predetermined images from the database using image recognition of predetermined features of the first and second ends of the AGV vehicle body to determine a proximity and orientation of the unlinked AGV with respect to the end AGV on approach to link; and

instructing the activation of a magnetic connector of one or both of the unlinked AGV and the end AGV to link the unlinked AGV to the end AGV when the unlinked AGV is within a predetermined proximity and orientation to the end AGV.

13 . The method of claim 12 , wherein the second control circuit is physically located at a command and control center remote from the chain of AGVs, the second control circuit in wireless communication with each first control circuit of the plurality of AGVs.

14 . The system of claim 12 , wherein the second control circuit defines a unitary and master control circuit with one of the first control circuits of the linked AGVs.

15 . The method of claim 12 , wherein each first and second magnetic connector of each AGV comprises a first electromagnetic connector and a second electromagnetic connector.

16 . The method of claim 12 , wherein each first and second magnetic connector of each AGV of the plurality of AGV comprises a first multi-pole magnetic connector and a second multi-pole magnetic connector.

17 . The method of claim 12 , wherein each AGV further comprises a navigational system including:

a GPS unit configured to facilitate navigation of the AGV vehicle body; and

an ultra-wideband unit configured to facilitate navigation to and connection with the other AGVs of the plurality of AGVs.

18 . The method of claim 12 , further comprising:

linking a first AGV to a second AGV in the plurality of AGVs; and

transferring power from the power source of the first AGV to the second AGV through magnetic coupling between the first and second AGVs.

19 . The method of claim 12 , further comprising, by the second control circuit:

communicating with the first control circuit of each AGV of the plurality of AGVs; and

instructing the first control circuit of each AGV to selectively connect with other AGVs to form a chain of AGVs and to selectively disconnect from other AGVs to unchain.

20 . The method of claim 12 , further comprising, by the second control circuit:

detecting an obstacle in a direction of travel of the linked AGVs;

communicating with the first control circuits of the AGVs instructing them to selectively disconnect from other AGVs to avoid the obstacle.