A delivery system and mapping method for a delivery robot

Abstract

The invention relates to a delivery system for a delivery robot, in which a delivery command (14) corresponding to orders (12) given from an electronic platform (11) is transmitted via a cloud environment (16), and one or more semi-autonomous or autonomous delivery robots (18) responsible for the delivery; a controller (20) located on each delivery robot (18) and allows movement of the robot by providing data flow with the cloud environment (16); the instantaneous status data set (22) of the delivery robot (18) is transmitted and stored via the cloud environment (16), containing an infrastructure provider central server (24) for orders, and that provides a smart map (26) by encoding and interpreting a mapped delivery area (23) where comparative analyses of the transmitted instantaneous status data set (22) are made in accordance with the delivery command (14) includes a data analysis unit (28).

Description

[0001] A DELIVERY SYSTEM AND MAPPING METHOD FOR A DELIVERY ROBOT

[0002] TECHNICAL FIELD

[0003] The invention is related to a delivery system and mapping method for a delivery robot, which not only maps the area for delivery, but also generates a classified smart map.

[0004] PRIOR ART

[0005] There is considerable interest in making mobile delivery robots more intelligent with advancing technology. Delivery robots, operating semi-autonomously or autonomously, need configurations that ensure both vehicle safety and secure object transportation, while mitigating time and damage losses while in motion. In addition, delivery robots need to perform mapping to determine the route they use to safely deliver within the delivery system.

[0006] US10794710 discloses a high-precision multi-layered visual and semantic map by autonomous units. The invention creates three-dimensional maps for autonomous vehicles and autonomous mobile units. Furthermore, the invention explains the multi-layered mapping system that enables smart map interaction for delivery robots.

[0007] BRIEF DESCRIPTION OF THE INVENTION

[0008] The object of the invention is to ensure the interpretation of the mapped delivery area with a smart map by analyzing the data provided during the deliveries of the delivery robots.

[0009] To reach the aforementioned aims, the invention describes a delivery system for a delivery robot, in which a delivery command corresponding to orders given from an electronic platform is transmitted via a cloud environment; one or more semi-autonomous or autonomous delivery robots responsible for the delivery; a controller located on each delivery robot and allows movement of the robot by providing data flow with the cloud environment; the instantaneous status data set of the delivery robot is transmitted and stored via the cloud environment, containing an infrastructure provider central server for orders. The invention includes a data analysis unit that provides a smart map by encoding and interpreting a mapped delivery area where comparative analyses of the transmitted instantaneous status data set are made in accordance with the delivery command. This allows calculation / estimation and displaying of the area where autonomous driving poses a problem, the level of autonomous driving, and average arrival time on the smart map.

[0010] In a preferred configuration of the invention, the instantaneous status data set of the delivery robot includes at least one data selected from a group consisting of time, location, internet signal level, battery charge level, the operating status of the robot, active intermediate destination, status of the robot cover, speed and angle of the robot, active camera information in the robot, covariance, error state occurring in the robot, status of the robot controller, temperature of the robot and controller, value of the inertia measurement unit in the robot, detected instantaneous human count, robot vibration metric, and weather condition. In this way, a smart map is determined by mapping according to the analyses made from the data coming from the robot.

[0011] In a preferred configuration of the invention, the data analysis unit is a document-based and open-source coded database document modeling. This allows real-time sending of data such as GPS power, speed, how many cameras the robot is using, during the delivery to the cloud environment, and from there to the data analysis unit. Here, the data analysis unit provides MongoDb, which has a database structure.

[0012] In a preferred configuration of the invention, the delivery robots are configured to keep the delivery data provided by the delivery of orders stored in the cloud environment. This makes it possible to determine the most ideal route for the target point to the delivery robot with the smart map according to the analyses of the data of every order given in the past.

[0013] A preferred configuration of the invention includes a connection unit located in the delivery robot and connected to the controller to provide the robot's internet access to the cloud environment. This allows the delivery robot to provide mutual data flow with the cloud environment.

[0014] A preferred application of the invention includes the process steps of determining the boundaries of the area to be mapped in the delivery area where the delivery robot is located; converting at least one of the delivery robots to a mapping robot with the performed assembly and system loads; positioning the starting point of the delivery robot within the delivery area; beginning to map the delivery area by remote controlling the delivery robot; converting the mapping robot to a delivery robot by mapping the delivery area; starting the deliveries by the delivery robots; analyzing and encoding and interpreting the instantaneous status data set received from the delivery robots during the delivery on the data analysis unit and approximately creating a smart map; updating the smart map with the collected instantaneous status data set and transmitting the updated smart map to the delivery robots via the cloud environment. This allows the interpretation of the delivery area with the smart map obtained by the developed mapping method according to the delivery system.

[0015] In a preferred application of the invention, performing image processing in the delivery robots to support robot driving and providing the updated and transmitted smart map. This allows the smart map to be updated according to the data received from the delivery robot.

[0016] In a preferred application of the invention, updating and transmitting the smart map in the delivery robots to provide route planning. This allows the delivery robots to calculate a route and ensure the delivery of orders according to the smart map provided by mapping.

[0017] BRIEF DESCRIPTION OF THE FIGURES

[0018] Figure 1 is a schematic representation of a delivery system for a delivery robot.

[0019] Figure 2 is a representation of the flow diagram related to a mapping method for a delivery robot.

[0020] DETAILED DESCRIPTION OF THE INVENTION

[0021] In this detailed description, the subject of the invention is explained with references to examples without any restriction on the development and solely to better understand the subject.

[0022] Figure 1 schematically shows a delivery system for a delivery robot. In a delivery system (10) for a delivery robot, orders (12) are given from an electronic platform (11 ). Here, the electronic platform (11) can be an order site accessed from a computer or mobile device or an order platform accessible through a mobile application. For example, in response to an order (12) a customer will place, a delivery order (14) is generated on the electronic platform (11). The delivery order (14) is transmitted to a delivery robot (18) via a cloud environment (16). Here, the delivery robot (18) is a semi-autonomous or autonomous mobile robot responsible for delivering the received orders (12). Also, the delivery robot (18) includes one or more wheels that allow forward and backward movement along the horizontal axis. The subject of the invention features four wheels in a delivery robot (18). There is a suspension corresponding to each wheel that reduces vibration against obstacles such as bumps, curbs that the delivery robot (18) encounters during delivery, and provides traction by overcoming obstacles. The suspensions are installed independently of each other. A controller (20) that provides the operation of the vehicle, i.e., enables the movement of the robot by providing command control of the robot, is present on the delivery robot (18). In addition, the controller (20) is an electronic circuit structure that facilitates data flow between the delivery robot (18) and the cloud environment (16). The real-time status data (22) transmitted from the controller (20) to the cloud environment (16) during the delivery (12) by the delivery robot (18) is transferred to a central server (24) via the cloud environment (16). This data (22) is stored in the central server (24). In addition, the central server (24) is the order infrastructure provider. In the delivery system (10), the instantaneous status data set (22) of the delivery robot (18) in a delivery distribution according to the delivery order (14) is transmitted to the data analysis unit (28) via the cloud environment (16). Here, comparative analyses of the transmitted instantaneous status data set (22) are performed. In the data analysis unit (28), the coding of a delivery area (23) is ensured in accordance with these analyses. In addition, the data analysis unit (28) is set to obtain a smart map (26) after the delivery area (23) is interpreted. Thus, in delivery areas (23) where autonomous driving poses a problem, the level of autonomous driving can be estimated by calculating the average arrival time.

[0023] The parameter set (28) used in the delivery system (10) of the invention may contain at least one of the following data, for example, all parameters;

[0024] • Time (30),

[0025] • Location (GPS-Latitude, Longitude, Altitude) (32),

[0026] • Internet signal level (RSRP, RSRQ, SINR, RSSI) (34)

[0027] • Battery charge level (percentage / voltage levels) (36)

[0028] • Working state of the robot (Ready for Work, Autonomous Driving, Manual Control, Lid Opening, Error etc. states of the robot) (38)

[0029] • Active destination point (40),

[0030] • Lid Status (42),

[0031] • Robot speed and angle (44) (46),

[0032] • Active camera information in the robot (48),

[0033] • Covariance (how erroneous the GPS data is) (50), • Error situation occurring in the robot (Error status of each running application and sensor) (52),

[0034] • Robot controller status

[0035] In the delivery system (10) of the invention, the data analysis unit (28) is a document-based and open-source coded database document model. Here, the data collected by the delivery robots (18) during delivery are sent in real-time to the cloud environment (16) and transmitted to the data analysis unit (28). The data analysis unit (28) is a unit providing MongoDB where a database structure exists. Also, all delivery data (15) in delivery robots (18) are stored in the cloud environment (16). Thus, the most ideal route on the smart map (26) can be determined based on the analysis of each order (12) data given in the past. Also, in the delivery robot (18), there is a connection unit (68) connected to the controller (20) and enabling the robot's internet access to the cloud environment (16) through the controller (20). Thus, the delivery robot (18) can conduct reciprocal data flow with the cloud environment (16).

[0036] Figure 2 shows a flowchart relating to a mapping method for a delivery robot. The mapping method of the invention, which is suitable for the delivery system (10) of the delivery robot (18) and enables understanding of the delivery area by obtaining the smart map (26), is given in order of operation as follows;

[0037] • Determining the mapping area boundaries in the delivery area (23) where the delivery robot (18) is located (70),

[0038] • Conversion of at least one of the delivery robots (18) to a mapping robot with assembly (72) and systemic installations (74) (76),

[0039] • Positioning the starting point within the delivery area (23) of the delivery robot (18) (78),

[0040] • The delivery robot (18) starts mapping the delivery area by remote control (80) (82),

[0041] • With the mapping of the delivery area (84), the mapping robot (86) is converted into a delivery robot (88),

[0042] • Subsequently, delivery robots (18) start deliveries (90),

[0043] • During the delivery (92), the instantaneous status data set (22) obtained from the delivery robots (18) is collected, analyzed (94), and coded to be understood (96) in the data analysis unit (28),

[0044] • Approximate creation of the smart map (98),

[0045] • Updating the smart map (26) with the collected instantaneous status data set (22) (100), • Finally, sending the updated smart map to the delivery robots (18) via the cloud environment (16) (102).

[0046] In the delivery system and delivery method for the delivery robot of the invention, additionally, supporting robot driving (106) with image processing (104) of the delivery robots (18) and updating and transmitting the smart map (102) can update the smart map (26) according to the incoming data. Here, route planning is provided (108) thanks to the updating and sending of the smart map (102). Therefore, it is possible to deliver orders (12) by calculating a route according to the smart map (26).

[0047] REFERENCE NUMBERS

[0048] 10 Delivery system 58 Temperature of the controller

[0049] 11 Electronic platform 60 Inertia measurement unit value

[0050] 12 Order 62 Detected instantaneous human count

[0051] 14 Delivery command 64 Vibration metric of the robot

[0052] 15 Delivery data 66 Weather condition

[0053] 16 Cloud environment 68 Connection unit

[0054] 18 Delivery robot 70 Determination of area boundaries

[0055] 20 Controller 72 Assembly performed

[0056] 22 Instantaneous status data set 74 System loads

[0057] 23 Delivery area 76 Conversion to a mapping robot

[0058] 24 Central server 78 Positioning of the starting point

[0059] 26 Smart map 80 Remote control

[0060] 28 Data analysis unit 82 Beginning to map the area

[0061] 30 Time 84 Mapping the delivery area

[0062] 34 Internet signal level

[0063] 36 Battery charge level 86 Mapping robot

[0064] 38 Operating status of the robot 88 Conversion to delivery robot

[0065] 40 Active intermediate destination 90 Start of deliveries

[0066] 42 Status of the robot cover 92 Delivery process

[0067] 44 Speed of the robot 94 Analysis of the data set

[0068] 46 Angle of the robot 96 Encoding and interpretation

[0069] 48 Active camera information in the 98 Creating a smart map robot 100 Updating the smart map

[0070] 50 Covariance 102 Transmitting the updated smart map Error state occurring in the robot 104 Performing image processing Status of the controller 106 Supporting robot driving Temperature of the robot 108 Providing route planning

Claims

CLAIMS1- A delivery system for a delivery robot, in which a delivery command (14) corresponding to orders (12) given from an electronic platform (11) is transmitted via a cloud environment (16), and comprising one or more semi-autonomous or autonomous delivery robots (18) responsible for the delivery; a controller (20) located on each delivery robot (18) and allows movement of the robot by providing data flow with the cloud environment (16); the instantaneous status data set (22) of the delivery robot (18) is transmitted and stored via the cloud environment (16), containing an infrastructure provider central server (24) for orders, characterized in that a data analysis unit (28) that provides a smart map (26) by encoding and interpreting a mapped delivery area (23) where comparative analyses of the transmitted instantaneous status data set (22) are made in accordance with the delivery command (14).2- A delivery system for a delivery robot according to claim 1 , wherein at least one data selected from a group consisting of time (30), location (32), internet signal level (34), battery charge level (36), operating status of the robot (38), active intermediate destination (40), status of the robot cover (42), speed and angle of the robot (44) (46), active camera information in the robot (48), covariance (50), error state occurring in the robot (52), status of the robot controller (54), temperature of the robot and controller (56) (58), value of the inertia measurement unit in the robot (60), detected instantaneous human count (62), vibration metric of the robot (64), and weather condition (66).3- A delivery system for a delivery robot according to any of the previous claims, wherein the data analysis unit (28) is a document-based and open-source coded database document modeling.4- A delivery system for a delivery robot according to any of the previous claims, wherein the delivery robots (18) are configured to keep the delivery data (15) provided by the delivery of orders (12) stored in the cloud environment (16).5- A delivery system for a delivery robot according to any of the previous claims, wherein including a connection unit (68) located in the delivery robot (18) and connected to the controller (20) to provide the robot's internet access to the cloud environment (16).6- A mapping method for a delivery robot according to any of the previous claims, wherein including the process steps of determining the boundaries of the area to be mapped in the delivery area (23) where the delivery robot (18) is located (70); converting at least one of thedelivery robots (18) to a mapping robot (76) with the performed assembly (72) and system loads (74); positioning the starting point of the delivery robot (18) within the delivery area (23) (78); beginning to map the delivery area by remote controlling the delivery robot (18) (80) (82); converting the mapping robot (86) to a delivery robot (88) by mapping the delivery area (84); starting the deliveries by the delivery robots (18) (90); analyzing and encoding and interpreting the instantaneous status data set (22) received from the delivery robots (18) during the delivery (92) on the data analysis unit (28) and approximately creating a smart map (98); updating the smart map (26) with the collected instantaneous status data set (22) (100) and transmitting the updated smart map to the delivery robots (18) via the cloud environment (16) (102).7- A mapping method for a delivery robot according to any of the previous claims, wherein performing image processing (104) in the delivery robots (18) to support robot driving (106) and providing the updated and transmitted smart map (102).8- A mapping method for a delivery robot according to any of the previous claims, wherein updating and transmitting the smart map (102) in the delivery robots (18) to provide route planning (108).

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