Method for creating navigation aids for delivery robots, system for creating navigation aids for delivery robots

Abstract

Method for creating navigation aids for delivery robots (12) comprising: • Providing and activating an application (20) for creating navigation aids for delivery robots (12) on a mobile terminal (18) of a user, characterized in that the method comprises the following further steps: • Requesting the application (20) to the user to enter a delivery address (22) and assigning a starting point (24) depending on the entered delivery address (22) in the vicinity of this delivery address (22) by means of the application (20); • Request from the application (20) to the user to take this starting point (24); • Requesting the application (20) to the user to record at least one film sequence from this starting point (24) to a destination (30) of the delivery address (22) using the mobile terminal (18); • Providing the at least one film sequence to a computing unit (14) with an evaluation program (16) by means of the application (20); • Creating a navigation aid for delivery robots (12) by means of the computing unit (14) with evaluation program (16) on the basis of the at least one film sequence; • Providing the navigation aids for delivery robots (12) to at least one delivery robot (12) from user-defined delivery service providers, so that at least one shipment can be delivered to the user at the destination (30) by means of the delivery robot (12).

Description

[0001] The invention relates to a method for creating navigation aids for delivery robots and a corresponding system and application for creating navigation aids for delivery robots.

[0002] Partially or fully automated processes are now being implemented in many areas of daily life, either to provide greater convenience or to facilitate faster and more reliable procedures. The automated delivery of shipments to customers continues to pose a major challenge. On the one hand, the appropriate automated delivery devices or delivery robots must be developed and deployed. A further challenge is navigating such delivery robots to the desired destination, as this involves incorporating a wide variety of geographical areas, including some non-public areas that are not listed or recorded in publicly accessible navigation aids. Two examples from the state of the art are presented below, which address the aforementioned topic in the broadest sense.

[0003] For example, a method for displaying the delivery location and associated software is known from document US 2018 / 0 330 325 A1. In particular, a computer-implemented method is disclosed which comprises receiving a request from a user to deliver an item from a first location to a second location. The request contains an image of a second location and an indicator on the image that identifies a precise delivery location for the item. The indicator on the image is registered at a precise location in a three-dimensional virtual model to obtain a three-dimensional delivery location. A robot is instructed to pick up the item at the first location and navigate from the first location to the second location via an outdoor transportation network. The robot delivers the item to the three-dimensional delivery location without human assistance.

[0004] From the document US 10 393 528 B2, systems and methods for navigation path determination for unmanned vehicles are also known. Example implementations relate to navigation path determination. An example method includes receiving video data at a computer system showing a demonstration path for navigating a location. The method further includes identifying a set of allowable surfaces at the location using the video data, wherein each allowable surface has been traversed by the demonstration path. The method additionally includes determining a navigation path for a vehicle to follow at the location, wherein the navigation path includes a variation from the demonstration path such that the variation causes the vehicle to stay within one or more allowable surfaces of the set of allowable surfaces.The method also includes causing the vehicle, through the computer system, to follow the navigation path to navigate the location.

[0005] The invention is based on the object of providing a method and a system as well as an application for creating navigation aids for delivery robots, which enable reliable and complete navigation to a desired destination.

[0006] In a preferred embodiment of the invention, a method for creating navigation aids for delivery robots is provided. Such a method comprises the following steps: providing and activating an application for creating navigation aids for delivery robots on a user's mobile device. The user is then prompted by the application to enter a delivery address. Depending on the entered delivery address, a starting point in the vicinity of this delivery address is entered using the application. The application prompts the user to take this starting point and also prompts the user to record at least one film sequence from this starting point to a destination of the delivery address using the mobile device. The at least one film sequence is provided to a computing unit with an evaluation program using the application.Subsequently, a navigation aid for delivery robots is created by means of the computing unit with an evaluation program based on the at least one film sequence. These navigation aids for delivery robots are provided to at least one delivery robot by user-defined registered delivery service providers, so that at least one shipment is delivered to the user at the destination location by means of the delivery robot. In this way, reliable and complete navigation to a desired destination location can be enabled, especially when an automated delivery robot takes over this task. In addition to navigation based on public navigation information, for example by means of corresponding map material, detailed and very accurate on-site navigation is possible by means of the presented method.The application involved accesses standard map data and thus reliably identifies the entered delivery address. A suitable starting point is assigned, for example, taking into account the missing route or missing navigation information about this route, thus enabling seamless and complete navigation to the desired destination. In a very simple form, the film sequence can consist of at least two images starting from the starting point. Ideally, however, the film sequence is a continuous documentation of the area surrounding the delivery address, in the sense of a possible delivery route, which then serves at least as a reference for the subsequent conversion or transformation into navigation aids.

[0007] The computing unit can, for example, be a decentralized server unit designed to be connected to a respective mobile device via an internet connection. Such a server unit can be provided based on cloud technology. The evaluation program can also access any basic navigation aids in order to calculate and create navigation aids in connection with the received film sequence. In other words, the evaluation program can include at least publicly accessible navigation information so that data about the user and their delivery address can be used together with the film sequence in the creation of navigation aids. Initial basic navigation information can also be provided during provision via the application based on the assignment step of the starting point to the delivery address.Instead of using a time-consuming SLAM (Simultaneous Localization and Mapping) method for delivery robot navigation, the presented method also offers the advantage of enabling the desired reliable and detailed navigation of delivery robots more quickly and efficiently. Instead of requiring the delivery robots to laboriously determine such routes before they can navigate, this necessary step can be performed by the user while driving to the delivery address, and can also be made available to many different delivery robots in parallel.

[0008] In a further preferred embodiment of the invention, an application for creating navigation aids for delivery robots is provided. Such an application comprises program code means for at least partially implementing the method according to one of claims 1 to 8 when stored on a mobile device, in particular a smartphone. The aforementioned advantages also apply to the presented application, to the extent that they are transferable.

[0009] In a further preferred embodiment of the invention, a system is provided for creating navigation aids for delivery robots. Such a system comprises a computing unit with an evaluation program and an application for creating navigation aids for delivery robots, wherein the application for creating navigation aids for delivery robots is designed to prompt a user of the application to enter a delivery address so that, depending on this input, a starting point in the vicinity of this delivery address can be assigned by the application, and wherein the application is also designedto prompt the user to adopt this starting point and, starting from this starting point, to record at least one film sequence up to a destination of the delivery address and to provide this at least one film sequence to the computing unit with the evaluation program. The computing unit with the evaluation program is designed to transform the at least one provided film sequence via details of a delivery address into a navigation aid for delivery robots, comprising at least one map product, in particular a three-dimensional map product, which includes at least one geometric feature of the environment of the delivery address, and to provide it to at least one delivery robot from user-defined delivery service providers. The aforementioned advantages also apply to the presented system, to the extent that they are transferable.

[0010] Further preferred embodiments of the invention result from the remaining features mentioned in the subclaims.

[0011] In a further embodiment of the invention, an additional request is made to record at least one film sequence using the mobile device, starting from the destination of the delivery address and proceeding to the starting point. This change of perspective of the recorded film sequences allows the subsequent creation of even better navigation aids using the computing unit and evaluation program. In particular, unclear objects can be detected from two directions and taken into account accordingly in the navigation aids.

[0012] A further embodiment of the invention also provides that the at least one film sequence is to be recorded using a mobile device with at least one sensor element, in particular a smartphone, so that during the creation of the at least one film sequence, at least one further piece of information is created using the at least one sensor element provided in the mobile device and is provided to the computing unit with the evaluation program for creating the navigation aid. The at least one further piece of information can, for example, comprise acceleration data recorded and provided by a corresponding sensor element. Using the film sequences and the further data from the sensor setup of the mobile device, even more precise and comprehensive navigation aids can thus be created.The computing unit with its evaluation program uses geometric features extracted from the film sequences and the sensor data recorded during the process to generate navigation aids along the route from the starting point to the destination. Customer data can be linked via the delivery address. If a delivery or shipment is ordered to the destination or drop-off point, the delivery robot first navigates to the starting point using existing data and receives the customer-specific navigation aids from the computing unit, which stores all the information for localization and navigation with its sensor setup. For example, the delivery robot could be a delivery drone that is to be navigated to a destination in the form of a drop-off point on the roof of a shed.The user films this route starting from the specified starting point, which is preferably located in a known area with sufficient basis in terms of navigation information.

[0013] In addition, a further embodiment of the invention provides that an additional request is made to create at least two film sequences with camera settings that differ in at least one property by means of the mobile terminal, in particular in order to record at least one further environmental feature in the vicinity of the delivery address, wherein the camera setting is selected from: camera orientation, camera guidance, camera angle, camera exposure setting, and wherein the destination is the apartment door of the delivery address.

[0014] The aforementioned advantages can thus be implemented even more effectively. For example, an additional instruction can be given to point the camera on the mobile device in a specific direction, such as left / front / bottom, in order to capture important details for the next steps in the process. These instructions can also be requested depending on the selected delivery robot. For example, for a delivery drone, the presence of high-voltage power lines of any kind in the vicinity is sometimes important, whereas for a ground-based delivery robot, even a sidewalk curb represents an initial challenge.

[0015] A further embodiment of the invention also provides that the navigation aid comprises at least one map product to be created, in particular a three-dimensional map product, with at least one geometric feature of the area surrounding the delivery address, wherein the map product is designed to assist the delivery robot in autonomous navigation during the execution of a delivery order for at least one shipment to the delivery address. Such map products are particularly helpful for an automated delivery routine of delivery robots, as they enable continuous and thus location-precise navigation, resulting in better and more reliable delivery with a high degree of control options. In this way, a shipment can also be delivered automatically to the corresponding apartment door.There, the shipment can either be stored automatically or handed over to the user via an interaction routine.

[0016] Furthermore, a further embodiment of the invention provides that a respective retrieved navigation aid is continuously improved by means of at least one feedback signal from at least one delivery robot actively using this navigation aid to the computing unit with the evaluation program with respect to at least one feature, in particular with respect to a specific obstacle, expected oncoming traffic, or temporary obstacles. For specific obstacles, such as stairs, elevators, or bottlenecks, which are assessed as a risk by the computing unit during navigation aid generation, additional safeguarding by guiding the delivery robot to these locations may be required.For this purpose, interaction options or access for communication interfaces with, for example, elevators or the existing building technology in general in connection with the delivery address, as well as associated or supplementary smart home systems, can be integrated. The combination of guidance and smartphone data reduces effort and allows for more efficient planning of personnel deployment. In other words, optimized or alternative routes or changes to the navigation aids can be updated based on the respective feedback from each delivery robot. Best-practice solutions, such as evasive strategies in the event of oncoming traffic or temporary obstacles, can also be stored on the processing unit along with the original navigation aids by evaluating the recorded data of successful deliveries by the delivery robots.

[0017] Furthermore, a further embodiment of the invention provides that the starting point is located in the vicinity of the delivery address in a transition area between a roadway in front of the delivery address and an apartment door of the delivery address, in particular on a sidewalk in front of the delivery address. Thus, the selection can be configured, for example, such that publicly accessible navigation aids, for example in the form of maps, are used by the delivery robot to navigate to the starting point, in order to then use correspondingly personal navigation aids provided with the user's permission from this starting point.The customer-specific navigation aids on the computing unit can, for example, be authorized by the user by using the application on the mobile device, so that they can then be made available for different services and delivery robots.

[0018] Finally, a further embodiment of the invention provides that the created map product is automatically linked to a user-defined data set stored on the computing unit for the delivery address during creation by the computing unit. In this way, additional data and special features can be dynamically made available at any time, allowing even better navigation aids to be created.

[0019] The various embodiments of the invention mentioned in this application can be advantageously combined with one another, unless stated otherwise in the individual case.

[0020] The invention is explained below in exemplary embodiments with reference to the accompanying drawings. They show: Fig. 1 is a process flow diagram of a method for creating navigation aids for delivery robots; Fig. 2 a schematic representation of a system for creating navigation aids for delivery robots.

[0021] Fig. 1 shows a process flow diagram 100 of a method for creating navigation aids for delivery robots 12. In a first method step 110, an application 20 for creating navigation aids for delivery robots 12 is provided and activated on a user's mobile terminal 18. In particular, this can comprise an application 20 according to claim 9. The user can obtain this, for example, free of charge from the website of a delivery company that offers automated delivery processes, thereby providing their initial customer-specific data and also agreeing to and providing initial authorization for the application of the presented method.In a second method step 120, the application 20 prompts the user to enter a delivery address 22, wherein, depending on the entered delivery address 22, a starting point 24 is assigned in the vicinity of this delivery address 22 by means of the application 20. In a third method step 130, the application 20 prompts the user to take this starting point 24. In a fourth method step 140, the application 20 prompts the user to record at least one film sequence from this starting point 24 to a destination 30 of the delivery address 22 using the mobile terminal 18. In a fifth method step 150, this at least one film sequence is provided to a computing unit 14 with an evaluation program 16 by means of the application 20.In a sixth method step 160, a navigation aid for delivery robot 12 is created using the computing unit 14 with the evaluation program 16 based on the at least one film sequence. In a seventh method step 170, the navigation aids for delivery robot 12 are provided to at least one delivery robot 12 by user-defined delivery service providers, so that at least one shipment can be delivered to the user at the destination 30 using the delivery robot 12.

[0022] Fig. 2 shows a schematic representation of a system 10 for creating navigation aids for delivery robots 12. The system 10 for creating navigation aids for delivery robots 12 is shown with a computing unit 14 with an evaluation program 16. An application 20 associated with the system 10 is also shown on a mobile terminal 18. This application 20 accordingly comprises program code means for at least partially implementing the method according to one of claims 1 to 8, if it is stored on this mobile terminal 18, which may be provided, for example, in the form of a smartphone.This application 20 for creating navigation aids for delivery robots 12 is designed to prompt a user of this application 20 (not shown in more detail) to enter a delivery address 22 so that, depending on this input, a starting point 24 in the vicinity of this delivery address 22 can be assigned by means of the application 20. The delivery address 22 can be, for example, a specific house on a displayed street 26. The starting point 24 is provided, for example, as a specific point on a sidewalk 28 shown next to the street 26. The navigation aids to be created therefore relate to a displayed route from the starting point 24 to a destination 30, which in this . Fig.2 is depicted as the apartment door of the house at the delivery address 22. The computing unit 14 with the evaluation program 16 is designed to transform at least one provided film sequence about details of a delivery address 22 into a navigation aid for delivery robots 12, in particular into at least one map product, in particular a three-dimensional map product that includes at least one geometric feature of the surroundings of the delivery address 22, and to provide it to at least one delivery robot 12 from user-defined delivery service providers. Radio waves 32 between the mobile terminal 18 and the computing unit 14 and radio waves 32 between the computing unit 14 and the depicted delivery robot 12 indicate these relationships. List of reference symbols 10 systems 12 delivery robots 14 Computing unit 16 Evaluation program 18 mobile devices 20 Application 22 Delivery address 24 Starting point 26 Street 28 Sidewalk 30 Destination 32 radio waves

Claims

[1] Method for creating navigation aids for delivery robots (12) comprising: • Providing and activating an application (20) for creating navigation aids for delivery robots (12) on a mobile terminal (18) of a user, characterized by that the procedure includes the following further steps: • Requesting the application (20) to the user to enter a delivery address (22) and assigning a starting point (24) depending on the entered delivery address (22) in the vicinity of this delivery address (22) by means of the application (20); • Request from the application (20) to the user to take this starting point (24); • Requesting the application (20) to the user to record at least one film sequence from this starting point (24) to a destination (30) of the delivery address (22) using the mobile terminal (18); • Providing the at least one film sequence to a computing unit (14) with an evaluation program (16) by means of the application (20); • Creating a navigation aid for delivery robots (12) by means of the computing unit (14) with evaluation program (16) on the basis of the at least one film sequence; • Providing the navigation aids for delivery robots (12) to at least one delivery robot (12) from user-defined delivery service providers, so that at least one shipment can be delivered to the user at the destination (30) by means of the delivery robot (12). [2] Method according to claim 1, wherein an additional request is made to record at least one film sequence starting from the destination (30) of the delivery address (22) to the starting point (24) by means of the mobile terminal (18). [3] Method according to one of the preceding claims, wherein the at least one film sequence is to be recorded with a mobile terminal (18) having at least one sensor element, in particular a smartphone, so that during creation of the at least one film sequence at least one further piece of information is created by means of the at least one sensor element provided in the mobile terminal (18) and is provided to the computing unit (14) with the evaluation program (16) for creating the navigation aid. [4] Method according to one of the preceding claims, wherein an additional request is made to create at least two film sequences with camera settings differing in at least one property by means of the mobile terminal (18), in particular in order to record at least one further environmental feature in the vicinity of the delivery address, wherein the camera settings are selected from: Camera orientation, camera work, camera angle, Camera exposure setting, and wherein the destination (30) is the apartment door of the delivery address (22). [5] Method according to one of the preceding claims, wherein the navigation aid comprises at least one map product to be created, in particular a three-dimensional map product, with at least one geometric feature of the surroundings of the delivery address (22), wherein the map product is designed to assist the delivery robot (12) in autonomous navigation during execution of a delivery order of at least one shipment to the delivery address (22). [6] Method according to one of the preceding claims, wherein a respective retrieved navigation aid is continuously improved by means of at least one feedback from at least one delivery robot (12), which actively uses this navigation aid, to the computing unit (14) with evaluation program (16) with regard to at least one feature, in particular with regard to a specific obstacle, of expected oncoming traffic, temporary obstacles. [7] Method according to one of the preceding claims, wherein the starting point (24) is located in the vicinity of the delivery address (22) in a transition area between a roadway in front of the delivery address (22) and an apartment door of the delivery address (22), in particular on a sidewalk (28) in front of the delivery address (22). [8] Method according to one of claims 5 to 7, wherein the created map product is automatically linked during creation by means of the computing unit (14) with a data record stored in a user-defined manner on the computing unit (14) for the delivery address (22). [9] Application (20) for creating navigation aids for delivery robots (12) with program code means for at least partially carrying out the method according to one of claims 1 to 8, when it is stored on a mobile terminal (18). [10] System (10) for creating navigation aids for delivery robots (12), comprising a computing unit (14) with an evaluation program (16) and an application (20) for creating navigation aids for delivery robots (12), wherein the application (20) for creating navigation aids for delivery robots (12) is designed to prompt a user of the application (20) to enter a delivery address (22) so that, depending on this input, a starting point (24) in the vicinity of this delivery address (22) can be assigned by means of the application (20), and wherein the application (20) is also designed to prompt the user to take this starting point (24) and, starting from this starting point (24), to record at least one film sequence up to a destination (30) of the delivery address (22) and to provide this at least one film sequence to the computing unit (14) with the evaluation program (16),and wherein the computing unit (14) with evaluation program (16) is designed to transform the at least one provided film sequence about details of a delivery address (22) into a navigation aid for delivery robots (12), comprising at least one map product which includes at least one geometric feature of the environment of the delivery address (22), and to provide it to at least one delivery robot (12) from user-defined delivery service providers.

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