TECHNICAL FIELD

The invention relates to a delivery system and a task matching method that provides reserve management for delivery robots.

BACKGROUND OF THE INVENTION

There is great interest in making mobile delivery robots smarter along with advancing technology. In the literature, semi-autonomous or autonomous delivery robots, used in many different areas of daily life from mail and package delivery to food or supermarket delivery, go out for delivery distribution matched according to the received orders. However, when matching the tasks of delivery robots, it is necessary to query whether or not the robots are in distribution. In addition, the estimated delivery time of the delivery should be determined and the robot that can deliver the order fastest should be identified.

US10235642 discloses a system and method to allocate warehouse supply tasks to distributed robotic agents in the most appropriate way. The invention involves obtaining a global task associated with the warehouse and information associated with robotic agents in a coordinator vehicle, profiling the information to obtain a number of sub-tasks in the overall tasking that includes the number and status of robotic agents, and defining constraints associated with the set of sub-tasks, which include usage restrictions and/or pricing constraints. It also explains performing a decentralized optimal task allocation distributed among robotic vehicles based on the constraints to achieve optimum performance of robotic vehicles, and each robotic vehicle performing a primary or binary decomposition of the subtasks set by distributed optimal task allocation. Here, when the optimization is performed based on usage restrictions and pricing constraints, it ensures the update of the corresponding primary/binary variables by the coordination vehicle.

BRIEF DESCRIPTION OF THE INVENTION

The object of the invention is to develop a delivery system and method that provides task assignment planning, task matching planning, and management for delivery robots.

To achieve the mentioned objective, the invention describes a delivery system for one or more semi-autonomous or autonomous delivery robots responsible for executing delivery orders transmitted over a cloud environment, corresponding to orders given from an electronic platform. The delivery system comprises a controller located on each delivery robot, facilitating the movement of the robot by providing a data flow with the cloud environment, and a central server, being the infrastructure provider of the orders, where the real-time status data set of the delivery robot is transferred and stored via the cloud environment. The delivery system for delivery robots includes a reserve planning unit that provides job assignment planning, planning, and management of the task matching process for the delivery robots by initiating an algorithm. Thus, adaptive task assignment planning is made in the external environment to delivery robots with four wheels and independent suspensions.

In a preferred configuration of the invention, the reserve planning unit is configured to give the output of estimated delivery times of orders according to the real-time status data set received from delivery robots. Thus, average delivery times can be calculated according to the requirements of delivery robots in the external environment.

In a preferred configuration of the invention, the reserve planning unit is set to be able to change the task matching process planning in the previously provided delivery robots. In this way, the delivery system can respond quickly to real-time changes.

In a preferred configuration of the invention, the real-time 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, robot's operating condition, active arrival point, robot lid status, robot's speed and angle, active camera information in the robot, covariance, error situation in the robot, controller status of the robot, temperature of the robot and the controller, the inertial measurement unit value in the robot, detected real-time number of people, robot vibration metric, and weather condition. Accordingly, mapping is done based on the analysis from the data coming from the robot, and an intelligent map is determined, and adaptive task assignment planning related to the delivery can be done in the external environment.

In a preferred configuration of the invention, the delivery data provided by the delivery of orders by delivery robots are set to be stored in the cloud environment. In this way, the most ideal route for the target point for the delivery robot can be determined according to the analyses of every past order data with the smart map.

A preferred configuration of the invention includes a connection unit that provides internet access to the cloud environment for the robot, to be connected to the controller located on the delivery robot. In this way, the delivery robot can provide bilateral data flow with the cloud environment. A preferred application of the invention involves a task matching method for delivery robots, which includes certain steps: receiving the order from the electronic platform and adding it to the order pool; querying the reserve of the delivery robot responsible for the order taken for the calculation of the estimated delivery time in the reserve planning unit and the job assignment planning of the added order; if there is a reserve delivery robot responsible for the order, returning to the job assignment planning of the orders added to the order pool; in the case where there is no reserve delivery robot responsible for the order, the creation of the order list with the selection of the order and the replanning of the order list; querying the availability of delivery robots that will deliver the order quickly with the selection of the current order with the replanning of the order list; if there are no available delivery robots to deliver the order, returning to the current order selection; if there are available delivery robots to deliver the order, determining the delivery robot that will deliver in a short time from the identified candidate delivery robots and allocating the task to the delivery robot to plan the task matching process of the delivery order of the order; removing the order from the order list by turning the order into the task of the delivery robot with the task allocation; ensuring the execution of the task of the delivery robot to manage the task matching process and querying the task; if the task is unsuccessful, determining the readiness of the task and making a new task allocation; if the task is successful, determining that the delivery robot is ready for use and removing the task from the list. In this way, with the task matching method developed for the delivery system, the reservation of the received orders to the delivery robots is ensured, and the estimated order delivery time is calculated, and a quick robot reservation assignment is made against events that change instantly.

In a preferred application of the invention, the creation of the order list and the operation of the task controller is performed to re-plan the order list. In this way, the selection of the first order according to the order sequence is ensured.

In a preferred application of the invention, the calculation of the estimated delivery time is ensured by including the remaining time of the delivery robot's instant order task and the necessary delivery time of the received order. In this way, by considering the reserve statuses of the delivery robots, an average delivery time can be determined.

In a preferred application of the invention, the states of each delivery robot in the available delivery robot list are updated in the cases where the order is delivered or cannot be delivered. In this way, for situations like a failure in the robot, the robot is in order distribution, or the robot lid is open, the status updates of the delivery robots can be made.

BRIEF DESCRIPTION OF THE FIGURES

Figure 1 is a schematic representation of a delivery system for delivery robots.

Figure 2 is a representation of the flow chart related to a task matching method for delivery robots.

DETAILED DESCRIPTION OF THE INVENTION

In this detailed explanation, the subject of the invention is explained with references to examples to better understand the topic, without any limitation to the development of the invention.

Figure 1 schematically shows a delivery system for delivery robots. In a delivery system (10) for delivery robots, orders (12) are given from an electronic platform (11). Here, the electronic platform (11 ) could be an order site accessed from a computer or mobile device, as well as an order platform accessed through a mobile application. For example, a delivery order (14) is created on the electronic platform (11) in response to an order (12) placed by a customer. The delivery order (14) is transmitted to a delivery robot (18) via a cloud environment (16). The delivery robot (18) here is a mobile robot that can operate semi-autonomously or autonomously and is responsible for delivering received orders (12). Furthermore, the delivery robot (18) includes one or more wheels that allow it to move forward and backward along a horizontal axis. In the invention, a delivery robot (18) includes four wheels. Each wheel is associated with a suspension that reduces vibration against obstacles such as bumps and curbs and allows the robot to overcome obstacles and maintain traction. The suspensions are mounted independently of each other.

The delivery robot (18) includes a controller (20) that operates the vehicle, that is, it provides command control to facilitate the robot's movement. In addition, the controller (20) is an electronic circuit structure that provides a data flow between the delivery robot (18) and the cloud environment (16). The real-time status data (22) of the delivery robot (18) transmitted from the controller (20) to the cloud environment (16) during order (12) delivery is transferred to a central server (24) via the cloud environment (16). These data (22) are stored in the central server (24). In addition, the central server (24) provides the order infrastructure. The delivery system (10) includes a reserve planning unit (80) that initiates an algorithm (78) to provide job assignment planning (70), planning and managing the task matching process (72) (74) of delivery orders (14) to the delivery robots (18). Thus, adaptive task assignment planning is made for delivery robots (18) with four wheels and independent suspensions in the external environment.

According to the solution developed for a delivery robot (18) moving in the external environment, the order (12) receiving capacity of the system (10) for a region is twice the total number of robots (18). A robot (18) with a task can be reserved for the next order (12). Furthermore, the algorithm (78) activated in the reserve planning unit (80) can change the robot task match (72) that has not yet started the task, in favor of the system (10), according to the change in the process. This allows the task planning algorithm (78) to respond instantly to changing demands. Also, the identity of the order (12) received by the delivery system (10) is converted to task identity by providing task allocation. Here, for a region, a delivery robot (18) can be called simultaneously. In the invention, when the capacity of the system (10) is filled, orders (12) are rejected.

The parameter set (28) used in the delivery system (10) in the invention can include at least one of the following data, for example, all parameters;

Time (30),

Location (GPS-Latitude, Longitude, Altitude) (32),

Internet signal level (RSRP, RSRQ, SINR, RSSI) (34)

Battery charge level (percentage/voltage levels) (36)

Working status of the robot (Ready for Work, Autonomous Driving, Manual Control, Opening Cover, Error, etc. robot statuses) (38)

Active intermediate destination (40),

Cover Status (42),

Robot speed and angle (44) (46),

Active camera information on the robot (48),

Covariance (how inaccurate the GPS data is) (50),

Error situation occurring on the robot (Error status of each running application and sensor) 52),

Robot controller status (CPU, Ram, disk, and internet usage) (54), Temperature of the robot and the controller (56) (58), Inertial measurement module on the robot (Robot IMU value) (60), Detected instant number of people (Number of people detected with object recognition in he instant situation) (62)

Robot vibration metric (Measuring robot wear and food scatter) (64), Weather condition (supported by meteorology and vision) (66). In the delivery system (10) of the invention, the reserve planning unit (80) provides outputs (76) of estimated delivery times of orders (12) in accordance with the real-time status data set (22) received from the delivery robots (18). Here, the reserve planning unit (80) can change the task matching process planning (72) previously provided in the delivery robots (18). Thus, the delivery system (10) can respond quickly to instant changes. In a configuration of the invention, when an urgent order (12) arrives, it can be possible to quickly change the task priority order. In addition, all delivery data (15) in the delivery robots (18) is kept in the cloud environment (16). Thus, the most ideal route over the smart map (26) can be determined based on the analysis of the data of each order (12) given in the past. In addition, the delivery robot (18) includes a connection unit (68) connected to the controller (20) and provides internet access to the controller (20) and the cloud environment (16). Thus, the delivery robot (18) can have a mutual data flow with the cloud environment (16).

Figure 2 shows the flowchart related to the task matching method for delivery robots. In the delivery robots (18) of the invention, the flow order of the task matching method that allows the orders (12) received to be reserved to the delivery robots (18) in accordance with the delivery system (10), and enables the estimation of the estimated order delivery time and rapid assignment of the robot (18) reservation in response to instant changing events, is given below;

• Adding the order (12) received through the electronic platform (11) to the order pool (82),

• For the order (12) added to the order pool (82), calculating the estimated delivery time (84) in the reserve planning unit (80) and querying the delivery robot responsible for the received order (12) for the task assignment planning (70) (87),

• In the case of having a reserved delivery robot (88) responsible for the order (12), returning to the task assignment planning of the orders (12) added to the order pool (82) (90),

• In the absence of a reserved delivery robot (92) responsible for the order (12), selecting the order (94), creating the order list (96), and replanning the order list (98),

• With the replanning of the order list (98), selecting the current order (100) and querying the availability of the delivery robots that will deliver the order (12) quickly (102),

• In the absence of available delivery robots (104) to deliver the order (12), returning to the current order selection (106),

• In the presence of available delivery robots (108) to deliver the order (12), determining the delivery robot that will deliver the order in a short time from the identified candidate delivery robots (110) and allocating the task (114) to the delivery robot (18) to ensure the planning (72) of the task matching process of the delivery order (14), • With the task allocation (114), transforming the order (12) into a delivery robot task (116) and removing it from the order list (118),

• Ensuring the delivery robot (18) to execute the task (120) to manage the task matching process (74) and querying the task (122),

• If the task fails (124), determining that the task is ready (126) and allocating a new task (128),

• In case the task is successful (130), determining that the delivery robot is ready for use (132) and removing the task from the list (134).

In the delivery system and delivery method for the delivery robot of the invention, calculations of order arrival times (84) are updated at predetermined intervals. In addition, the orders received are reserved for the delivery robots (18), and the estimated order delivery time (average order delivery time) (84) is calculated, and the robot (18) reservation is assigned quickly in response to instant changes. In an application of the invention, the creation of the order list (96) is performed with the operation of the task controller (activation of the task controller) (97), and the order list is replanned (98). In this case, the first order (12) according to the order sequence can be selected. In the invention, the calculation of the estimated delivery time (84) is provided by including and summing the remaining time (85) from the delivery robot's (18) instant order task and the required delivery time (86) of the received order. Also, in cases where the order is delivered or cannot be delivered (136) (138), all delivery robot situations in the available delivery robot list (140) can be updated (142).

REFERENCE NUMBERS

10 Delivery system 82 Addition to the order pool

11 Electronic platform 84 Calculation of estimated delivery time

12 Order 85 Time remaining from the instant order task

14 Delivery command 86 Required delivery time of the received order

15 Delivery data 87 Delivery robot reserve query

16 Cloud environment 88 Situation of having a reserved delivery robot

18 Delivery robot 90 Returning to task assignment planning

20 Controller 92 Situation of not having a reserved delivery

22 Instantaneous status data set robot

24 Central server 94 Selection of order

30 Time 96 Creation of order list 34 Internet signal level 97 Operation of the task controller

36 Battery charge level 98 Replanning of the order list

38 Working status of the robot 100 Selection of the current order

40 Active intermediate destination 102 Availability query of the robots

42 Robot lid status 104 Situation of not having available robots

44 Robot speed 106 Returning to the selection of the current

46 Robot angle order

48 Active camera information on the 108 Situation of having available robots robot 110 Candidate delivery robots

50 Covariance 112 Determination of the delivery robot

52 Error situation occurred in the robot 114 Allocation of the task

54 Status of the controller 116 Conversion into a delivery robot task

56 Temperature of the robot 118 Removal of the task from the order list

58 Temperature of the controller 120 Ensuring the execution of the task

60 Inertial measurement unit value 122 Querying of the task

62 Number of humans detected 124 Situation of the task failure instantaneously 126 Determination of the task readiness

64 Robot vibration metric 128 Allocation of a new task

66 Weather condition 130 Situation of the task success

68 Connection unit 132 Delivery robot being ready for use

70 Task assignment planning 134 Removal of the task from the list

72 Task matching planning 136 Situation of the order delivery

74 Management of task matching 138 Situation of the order not being delivered

76 Outputs of estimated delivery times 140 Available delivery robot list

78 Algorithm 142 Updating of delivery robot statuses

80 Reserve planning unit