METHOD AND SYSTEM FOR AUTONOMOUS OR SEMI-AUTONOMOUS DELIVERY

Abstract

A delivery method includes providing a system with at least one server, at least one robot, and at least one delivery terminal. The method includes communicating a request for at least one delivery from the at least one delivery terminal to the at least one server and/or to the at least one robot; providing instructions from the at least one server to the at least one robot about the at least one delivery, the instructions comprising information about a final delivery location; loading the at least one robot with the at least one delivery to be transported; transporting the at least one delivery in the at least one robot to the final delivery location; and providing access to the at least one delivery in the at least one robot, preferably upon arrival at the delivery location. A system has at least one server adapted for at least: coordinating communication within the system, receiving/storing/sending data and/or performing computations; at least one robot operating autonomously or semi-autonomously and adapted to communicate with the at least one server in order to facilitate transport of a delivery by the robot to at least one recipient; and at least one delivery terminal communicating with the at least one robot and/or the at least one server.

Claims

1. A delivery method, operable in a system comprising at least one server, at least one robot and at least one delivery terminal, the method comprising: communicating a request for at least one delivery from the at least one delivery terminal to one or more of: (i) the at least one server, and (ii) the at least one robot, said at least one delivery comprising at least one delivery item; providing instructions from the at least one server to the at least one robot about the at least one delivery, the instructions comprising information about a final delivery location; transporting the at least one delivery item in the at least one robot to the final delivery location, wherein the robot operates on pedestrian paths; during said transporting, while navigating and operating autonomously, the robot determining that a street is to be crossed by the robot; and then, in response to said determining, the robot notifying a server that a street is to be crossed by the robot; and then, in response to the notifying, an operator terminal controlling the robot in crossing the street, wherein the operator terminal communicates with the robot through the server; and then, after the robot has crossed the street, at least in part under control of the operator terminal, said robot resuming autonomous navigation and operation.

2. The delivery method of claim 1, wherein the method comprises providing access to the at least one delivery item in the at least one robot.

3. The delivery method of claim 1, wherein the method comprises loading the at least one robot with the at least one delivery item.

4. The delivery method of claim 1, wherein the at least one robot ceases motion when facing a potentially hazardous and/or unexpected setting.

5. The delivery method of claim 2, wherein the at least one delivery item is stored in a compai linent in the at least one robot during delivery and wherein providing access to the at least one delivery item comprises opening the compartment.

6. The delivery method of claim 2, further comprising authenticating a delivery recipient before providing access to the at least one delivery item.

7. The delivery method of claim 1, wherein the at least one robot carrying the at least one delivery item weighs no more than 40 kg.

8. The delivery method of claim 1, wherein the at least one robot comprises a width of 20 to 100 cm, height of 20 to 100 cm and length of 30 to 120 cm and travels with a speed of no more than 20 km/h.

9. The delivery method of claim 1, wherein the robot is adapted for operation in an unstructured outdoors environment.

10. The delivery method of claim 1 further comprising: the robot navigating to a hub once the delivery is completed.

11. The delivery method of claim 2, wherein providing access to the delivery item occurs upon arrival at the delivery location.

12. The delivery method of claim 1, wherein the server receives data transferred by the operator terminal and forwards the data to the robot and wherein the robot acts based on the data sent by the operator terminal via the server and wherein the operator terminal receives data about the robot via the server.

13. A system comprising: at least one server adapted for at least: coordinating communication within the system, and for one or more of: receiving data, storing data, sending data, and performing computations; at least one robot navigating and operating at least semi-autonomously and adapted to communicate with the at least one server in order to facilitate transport of a delivery by the at least one robot to at least one recipient, said delivery comprising at least one delivery item; at least one delivery terminal communicating with one or more of: the at least one robot and the at least one server; and an operator terminal, wherein, in response to a request to the at least one server from the at least one robot when faced with a potentially hazardous setting while the robot was navigating and operating autonomously, the operator terminal controls the robot, through the at least one server, in the potentially hazardous setting, after which the robot resumes autonomous navigation and operation, wherein the potentially hazardous setting comprises a street to be crossed by the at least one robot.

14. The system of claim 13, wherein the at least one robot has a width of 20 to 100 cm, height of 20 to 100 cm, length of 30 to 120 cm, and is adapted to operate on pedestrian paths, and travel with a speed of no more than 20 km/h.

15. The system of claim 13, wherein the operator terminal is constructed and adapted to control the robot in at least one of: (i) a potentially hazardous setting, and/or (ii) an unexpected setting.

16. The system of claim 13, wherein the at least one robot comprises a compartment constructed and adapted to store the delivery within the compartment, wherein the compartment is constructed and adapted to be opened to provide access to the delivery.

17. The system of claim 13, wherein the at least one robot is adapted for operation in an unstructured outdoors environment.

18. The system of claim 13, wherein the system further comprises at least one hub that is adapted to perform at least one of: storage, maintenance, repair, and/or resupply of the at least one robot and wherein a particular hub comprises a communication module constructed and adapted to communicate with of other elements of the system.

19. The system of claim 13, wherein the operator terminal is adapted to control multiple robots.

20. The system of claim 13, wherein the at least one robot carrying the delivery weighs no more than 40 kg.

21. The system of claim 13, wherein, while the operator terminal controls the at least one robot through the at least one server, the at least one server receives data transferred by the operator terminal and forwards the data to the at least one robot and while the operator terminal controls the at least one robot through the at least one server, the operator terminal receives data about the robot via the at least one server, and wherein the at least one robot acts based on data sent by operator terminal via the at least one server.

22. The system of claim 13, wherein the potentially hazardous setting also comprises: the at least one robot (i) operating along a road; and/or (ii) at a traffic light, and/or (iii) at a pedestrian crossing.

23. A method, in a system comprising: at least one server adapted for at least: coordinating communication within the system, and for one or more of: receiving data, storing data, sending data, and performing computations; a plurality of robots navigating and operating at least semi-autonomously and adapted to communicate with the at least one server in order to facilitate transport of a delivery by a particular robot of the plurality of robots to at least one recipient, said delivery comprising at least one delivery item; and an operator terminal, the method comprising: providing instructions from the at least one server to the particular robot about the at least one delivery, the instructions comprising information about a particular delivery location; the particular robot navigating autonomously to the particular delivery location, wherein the particular robot navigates and operates, at least in part, on pedestrian paths; and then the particular robot navigating autonomously to another location, wherein, during said navigating, while navigating and operating autonomously, the particular robot determining that the particular robot is facing a potentially hazardous situation; and then, in response to said determining in, the particular robot notifying the at least one server of the potentially hazardous situation; and then, in response to the notifying in, an operator terminal controlling the particular robot while dealing with the potentially hazardous situation, wherein the operator terminal communicates with and controls the particular robot through the at least one server; and then, after the particular robot has dealt with the potentially hazardous situation, at least in part under control of the operator terminal, said particular robot resuming autonomous navigation and operation, and wherein the potentially hazardous situation comprises: the particular robot crossing a street, and/or the particular robot at a traffic light, and/or the particular robot at a pedestrian crossing.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0092] The skilled person will understand that the drawings, described below, are for illustration purposes only. The drawings are not intended to limit the scope of the present teachings in any way.

[0093] FIG. 1 shows an embodiment of a server-hub-robot system according to the invention.

[0094] FIG. 2 shows an embodiment of a server-robot-delivery terminal system according to the invention.

[0095] FIG. 3 shows an embodiment of a server-hub-robot-delivery terminal system according to the invention.

[0096] FIG. 4 shows an embodiment of a server-hub-robot-delivery terminal-operator terminal system according to the invention.

[0097] FIG. 5 shows an embodiment of a server-hub-robot-delivery recipient-operator terminal system according to the invention.

[0098] FIG. 6 shows one schematic embodiment of the robot according to the invention.

DESCRIPTION OF VARIOUS EMBODIMENTS

[0099] In the following, exemplary embodiments of the invention will be described, referring to the figures. These examples are provided to provide further understanding of the invention, without limiting its scope.

[0100] In the following description, a series of features and/or steps are described. The skilled person will appreciate that unless required by the context, the order of features and steps is not critical for the resulting configuration and its effect. Further, it will be apparent to the skilled person that irrespective of the order of features and steps, the presence or absence of time delay between steps, can be present between some or all of the described steps.

[0101] Referring to FIG. 1 an example of a system according to one embodiment of the invention is shown. Server 10 is coordinating the communication between itself, hub 20 and robot 30. Hub 20 can be a physical location or a physical structure such as a shipping container, a warehouse, a depot, a garage and/or a house. Hub 20 can also be mobile, for example a truck, a trailer or a train wagon. Hub 20 can be used to store, maintain, repair, recharge, and/or resupply robot 30. Server 10 can make decisions about the system, and can provide commands to the hub 20 and/or robot 30 based on such decisions. Server 10 may be a cloud-based server, a cluster of servers and/or a virtual server. Hub 20 is communicating with server 10 and/or robot 10. In one embodiment hub 20 sends data concerning the robots 30 or deliveries (not shown) located on its premises to the system. The system can also receive information about the local weather, further deliveries and additional robots 30. The weather information may be received by the server 10 and distributed to the hubs 20 based on their location, and/or received by the hub 20 based on local measurements and/or sent directly to the robot 30 by the server. Robot 30 communicates with server 10 concerning internal diagnostics, external data perceived by the robot sensors and localization related information. Robot 30 may receive data from server 10 concerning the surroundings of robot 30, its current objective and delivery information. Robot 30 may receive information from server 10 regarding its current or upcoming path information and send information back to server 10 if there is a discrepancy in the received information and the reality perceived through the sensors of the robot 30.

[0102] FIG. 2 shows another embodiment of the system according to the invention. Server 10 coordinates communication between itself, robot 30 and delivery terminal 40. Robot 30 is tasked with transporting a delivery (not shown) to a location specified by the delivery terminal 40. Delivery terminal 40 can send request for a delivery to the server 10 specifying the time and location of the delivery. Alternatively, time and/or location information can be determined by server 10. Server 10 then forwards this information to robot 30. Delivery terminal 40 can be a personal computer, a laptop, a cell phone, a tablet, and/or a wearable computing device such as a watch, a wristband, a ring, glasses and/or contact lenses. Delivery terminal 40 does not have to be at the same physical location the delivery will be transported to. The delivery may be received by the delivery recipient 60, not pictured here.

[0103] FIG. 3 presents yet another embodiment of the system according to the invention. In this embodiment, there is a server 10, a hub 20, a robot 30 and a delivery terminal 40. Although a single robot 30 and single delivery terminal 40 are shown, there can be a plurality of robots and delivery terminals. Hub 20 may serve as a storage location for multiple deliveries (not shown) to be taken to the delivery recipient 60 (not shown) by the one or more robots 30. One hub 20 may serve an area of 2-10 square kilometres. The system can also contain multiple hubs 20. As before, server 10 coordinates communication between all the elements of the system.

[0104] Another embodiment of the system according to the invention is shown in FIG. 4. The new element differing it from FIG. 3 is the operator terminal 50. Operator terminal 50 may communicate with the robot 30 through the server 10. Operator terminal 50 may receive data about the robot 30 regarding current location, current task and/or request for input (including textual input, audio input and/or command input). Server 10 receives the data transferred by the operator terminal 50 and forwards it to the robot 30. Robot 30 then acts based on the data sent by operator terminal 50. In one embodiment, operator terminal 50 may send an audio input for communication with the surroundings of robot 30. In another embodiment, operator terminal 50 may control robot 30 in potentially hazardous settings, for example when it crosses a street. Operator terminal 50 may control and/or monitor multiple robots 30 at the same time.

[0105] One more embodiment of the system according to the invention is shown in FIG. 5. In comparison with FIG. 4, there is a delivery recipient 60 that receives the delivery transported by the robot 30. Delivery terminal 40 is not shown. In one embodiment, delivery recipient 60 orders a delivery using a delivery terminal 40. In another embodiment, delivery recipient 60 is only receiving the delivery at the location specified by the system. In one embodiment, one or more robots 30 are stored, maintained and/or resupplied inside one or more hubs 20. Deliveries may arrive to one or more hubs 20 from for example shipping companies, stores, online stores, and/or post companies. The deliveries would be stored at hub 20 until a delivery request from a delivery terminal 40. Delivery terminal 40 may be operated by a delivery recipient 60. The delivery request may be received by the server 10 and directed to one of the robots 30 located in the hub 20 housing the delivery. Upon receiving the delivery request, robot 30 may be loaded with the delivery or load itself autonomously. Robot 30 then leaves the hub 20 and navigates autonomously or semi-autonomously towards the location of the delivery. This navigation may be done in an urban, suburban and/or rural environment. During the navigation, the robot 30 may operate autonomously unless a hazardous setting, such as crossing a road is encountered. In this case, robot 30 may cease motion and request an input from operator terminal 50. This may be done through the server 10. Operator terminal 50 may control the robot 30 or may send data including potentially audio data to facilitate interaction with the surroundings of the robot 30. Once the setting is no longer hazardous, robot 30 may switch back to an autonomous mode of operation. Robot 30 can operate on pedestrian paths. Once the robot 30 reaches the delivery recipient 60, the delivery is completed. In one embodiment, the delivery recipient 60 accesses the delivery using an authentication method, such as a mobile identity, barcode, Bluetooth, NFC, fingerprinting, visual authentication, voice identification, or the like, or by entering an access code on the robot 30 and/or on the delivery terminal 40. The access code can be provided by server 10 to the delivery terminal 40. Alternatively, the delivery can be made accessible through a command from the server 10 or the operator terminal 50. Robot 30 then returns to hub 20, which may be the same hub 20 from which it started the delivery. Alternatively, the robot 30 returns to an alternate hub 20. Alternatively, robot 30 can then proceed to another delivery location or a second delivery location where it can then deliver another delivery. The robot 30 can deliver multiple deliveries in a single robot run. In another embodiment, robot 30 may pick up the delivery elsewhere than the hub 20, and proceed to transfer it to the delivery recipient.

[0106] FIG. 6 shows one exemplary embodiment of a robot 30. The robot 30 may comprise a frame 302 and wheels 304 mounted to the frame 302. In the depicted embodiment, there are provided a total of 6 wheels 304. The robot 30 also comprises a body or housing 306 comprising a compailinent adapted to house or store the goods to be delivered to the addressee or the delivery recipient (not shown). This compailinent may also be called a delivery compailinent. The body 306 may be mounted on the frame 302. The robot 30 also typically comprises a lid 308 for closing the body or housing 306. That is, the cover 308 may assume a closed position depicted in FIG. 5 and an open position. In the closed position, there is no access to the goods in the delivery compailinent of the body 306. In the open position of the cover 308 (not depicted), the delivery recipient may reach into delivery compal linent of the body 306 and obtain the goods from the inside of the body 306. The robot 30 may switch from the closed position to the open position in response to the addressee performing an opening procedure, such as the addressee entering a code or the addressee otherwise indicating that he/she is in a position to obtain the goods from the robot 30. For example, the addressee may access the delivery compartment by using a smailphone application or the lid 308 may be automatically opened once the delivery location is reached by the robot. The robot 30 may also comprise one or a plurality of sensors 310, e.g., cameras, to obtain information about the surroundings of the robot 30. The robot 30 may also comprise lights 314, such as LEDs. Furthermore, in the depicted embodiment, the robot 30 includes an antenna 312, which may extend upwards. Typical dimensions of the robot 30 may be as follows. Width: 20 to 100 cm, preferably 40 to 70 cm, such as about 55 cm. Height (excluding the antenna): 20 to 100 cm, preferably 40 to 70 cm, such as about 60 cm. Length: 30 to 120 cm, preferably 50 to 80 cm, such as about 65 cm. The weight of the robot 30 may be in the range of 2 to 50 kg, preferably in 5 to 40 kg, more preferably 7 to 25 kg, such as 10 to 20 kg. The antenna 312 may extend to an overall height of between 100 and 250 cm, preferably between 110 and 200 cm, such as between 120 and 170 cm. Such a height may be particularly advantageous such that the antenna 312 and thus the overall robot 30 is easily seen by other traffic participants.

[0107] As used herein, including in the claims, singular forms of terms are to be construed as also including the plural form and vice versa, unless the context indicates otherwise. Thus, it should be noted that as used herein, the singular forms “a,” “an,” and “the” include plural references unless the context clearly dictates otherwise.

[0108] Throughout the description and claims, the terms “comprise”, “including”, “having”, and “contain” and their variations should be understood as meaning “including but not limited to”, and are not intended to exclude other components.

[0109] The term “at least one” should be understood as meaning “one or more”, and therefore includes both embodiments that include one or multiple components. Furthermore, dependent claims that refer to independent claims that describe features with “at least one” have the same meaning, both when the feature is referred to as “the” and “the at least one”.

[0110] It will be appreciated that variations to the foregoing embodiments of the invention can be made while still falling within the scope of the invention can be made while still falling within scope of the invention. Features disclosed in the specification, unless stated otherwise, can be replaced by alternative features serving the same, equivalent or similar purpose. Thus, unless stated otherwise, each feature disclosed represents one example of a generic series of equivalent or similar features.

[0111] Use of exemplary language, such as “for instance”, “such as”, “for example” and the like, is merely intended to better illustrate the invention and does not indicate a limitation on the scope of the invention unless so claimed.

[0112] Any steps described in the specification may be performed in any order or simultaneously, unless the context clearly indicates otherwise.

[0113] All of the features and/or steps disclosed in the specification can be combined in any combination, except for combinations where at least some of the features and/or steps are mutually exclusive. In particular, preferred features of the invention are applicable to all aspects of the invention and may be used in any combination.