US Patent 10239544 Guided delivery vehicle

A guided delivery vehicle having one or more item support regions atop a carrier body; one or more drive wheels attached or coupled to one or more powered servo motors; a receiver for receiving one or more transmitted signals; at least one junction detection sensor, wherein the at least one junction detection sensor is capable of detecting a junction identifier associated with a determined position along a guide track; and a controller that receives and processes input from at least the receiver and the at least one junction detection sensor, and, in response to a received and processed input, executes an initial command step and sequentially executes subsequent command steps upon detection of a subsequent junction identifier.