WO2024015032A1 - Système de livraison et procédé d'appariement de tâches pour robots de livraison - Google Patents

Système de livraison et procédé d'appariement de tâches pour robots de livraison Download PDF

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Publication number
WO2024015032A1
WO2024015032A1 PCT/TR2022/050749 TR2022050749W WO2024015032A1 WO 2024015032 A1 WO2024015032 A1 WO 2024015032A1 TR 2022050749 W TR2022050749 W TR 2022050749W WO 2024015032 A1 WO2024015032 A1 WO 2024015032A1
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WO
WIPO (PCT)
Prior art keywords
delivery
robot
order
task
robots
Prior art date
Application number
PCT/TR2022/050749
Other languages
English (en)
Inventor
Ali BOLU
Ozcan KARABACAK
Oral YIGITKUS
Abdulrahman DABBOUR
Arda AGABABAOGLU
Original Assignee
Delivers Ai Robotik Otonom Surus Bilgi Teknolojileri A.S.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Delivers Ai Robotik Otonom Surus Bilgi Teknolojileri A.S. filed Critical Delivers Ai Robotik Otonom Surus Bilgi Teknolojileri A.S.
Priority to PCT/TR2022/050749 priority Critical patent/WO2024015032A1/fr
Publication of WO2024015032A1 publication Critical patent/WO2024015032A1/fr

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • G06Q10/0835—Relationships between shipper or supplier and carriers
    • G06Q10/08355—Routing methods

Definitions

  • the invention relates to a delivery system and a task matching method that provides reserve management for delivery robots.
  • 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.
  • 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.
  • 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.
  • 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.
  • adaptive task assignment planning is made in the external environment to delivery robots with four wheels and independent suspensions.
  • 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.
  • average delivery times can be calculated according to the requirements of delivery robots in the external environment.
  • 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.
  • 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.
  • the delivery data provided by the delivery of orders by delivery robots are set to be stored in the cloud environment.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 1 schematically shows a delivery system for delivery robots.
  • orders (12) are given from an electronic platform (11).
  • 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.
  • 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).
  • the delivery robot (18) includes one or more wheels that allow it to move forward and backward along a horizontal axis.
  • 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.
  • 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).
  • 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).
  • adaptive task assignment planning is made for delivery robots (18) with four wheels and independent suspensions 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).
  • 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.
  • the identity of the order (12) received by the delivery system (10) is converted to task identity by providing task allocation.
  • a delivery robot (18) can be called simultaneously.
  • 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;
  • 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 Measurement robot wear and food scatter
  • Weather condition supported by meteorology and vision
  • 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).
  • the reserve planning unit (80) can change the task matching process planning (72) previously provided in the delivery robots (18).
  • the delivery system (10) can respond quickly to instant changes.
  • all delivery data (15) in the delivery robots (18) is kept in the cloud environment (16).
  • 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).
  • 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.
  • 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;
  • calculations of order arrival times (84) are updated at predetermined intervals.
  • 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.
  • 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).
  • the first order (12) according to the order sequence can be selected.
  • 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.
  • all delivery robot situations in the available delivery robot list (140) can be updated (142).

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  • Business, Economics & Management (AREA)
  • Engineering & Computer Science (AREA)
  • Economics (AREA)
  • Human Resources & Organizations (AREA)
  • Strategic Management (AREA)
  • Marketing (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Development Economics (AREA)
  • Operations Research (AREA)
  • Quality & Reliability (AREA)
  • Tourism & Hospitality (AREA)
  • Physics & Mathematics (AREA)
  • General Business, Economics & Management (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Game Theory and Decision Science (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un système de livraison d'un robot de livraison (18) comprenant un ou plusieurs robots de livraison semi-autonomes ou autonomes (18) responsables de la livraison de commandes (12) données à partir d'une plateforme électronique (11), des commandes de livraison (14) correspondant aux commandes étant transmises par l'intermédiaire d'un environnement en nuage (16); un dispositif de commande (20) étant configuré pour permettre le mouvement du robot en fournissant un flux de données avec l'environnement en nuage (16) ; un serveur central (24), un fournisseur d'infrastructure des commandes, l'ensemble de données d'état actuel (22) du robot de distribution (18) étant transféré et stocké par l'intermédiaire de l'environnement en nuage (16), comprenant en outre une unité de planification de réserve (80) qui active un algorithme (78) pour fournir une planification d'attribution de tâche (70), une planification et une gestion d'un processus d'appariement de tâches (72) (74) pour des robots de distribution (10).
PCT/TR2022/050749 2022-07-11 2022-07-11 Système de livraison et procédé d'appariement de tâches pour robots de livraison WO2024015032A1 (fr)

Priority Applications (1)

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PCT/TR2022/050749 WO2024015032A1 (fr) 2022-07-11 2022-07-11 Système de livraison et procédé d'appariement de tâches pour robots de livraison

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PCT/TR2022/050749 WO2024015032A1 (fr) 2022-07-11 2022-07-11 Système de livraison et procédé d'appariement de tâches pour robots de livraison

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111830952A (zh) * 2019-03-29 2020-10-27 阿里巴巴集团控股有限公司 实体店铺内的运输车调度方法及装置
CN112101620A (zh) * 2020-08-12 2020-12-18 久恒理树 一种物流线路规划方法
CA3188743A1 (fr) * 2020-07-10 2022-01-13 Ifollow Systeme et methode pour gerer plusieurs robots mobiles pour la preparation de commandes de produits stockes en entrepot

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111830952A (zh) * 2019-03-29 2020-10-27 阿里巴巴集团控股有限公司 实体店铺内的运输车调度方法及装置
CA3188743A1 (fr) * 2020-07-10 2022-01-13 Ifollow Systeme et methode pour gerer plusieurs robots mobiles pour la preparation de commandes de produits stockes en entrepot
CN112101620A (zh) * 2020-08-12 2020-12-18 久恒理树 一种物流线路规划方法

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