# US 11,441,923 B2 · Method for distributing navigation map data to a plurality of work machines > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,441,923 B2 - Document ID: US11441923B2 - Status: Granted - Kind: B2 - Application number: 17/013,012 - Filed: 2020-09-04 - Published: 2021-03-18 - Granted: 2022-09-13 - Earliest claimed: 2019-09-17 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Christian Becker-Asano; Markus Ferch - Web page: https://patentgrep.com/patent/US11441923B2 ## CPC - G01C 21/005: {with correlation of navigation data from several sources, e.g. map or contour matching (G01C21/30 takes precedence)} - G01C 21/3896: {Transmission of map data from central databases} - G01C 21/3807: {characterised by the type of data} - G01C 21/3833: {characterised by the source of data} - G01C 21/3859: {Differential updating map data} - G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - G05D 1/0297: {by controlling means in a control room} - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A method for distributing navigation map data to a plurality of work machines which are part of a network of work machines and perform work orders in this network, wherein the navigation map data are needed in the work machines to carry out the work orders, and work orders are planned on the basis of navigation map data, includes detecting work orders for work machines, which work orders exist in the network and were planned on the basis of old navigation map data. The method includes checking the work orders which exist in the network in order to determine whether these work orders can be carried out with new navigation map data, and terminating work orders which cannot be carried out with new navigation map data. The new navigation map data is then installed. ## Claims ### Claim 1 A method of distributing navigation map data to a plurality of work machines which are part of a network of work machines, and which perform work orders in the network, wherein the navigation map data are needed in the plurality of work machines to carry out the work orders, and work orders are planned on the basis of the navigation map data, the method comprising: detecting work orders for the plurality of work machines, which work orders exist in the network and were planned on the basis of old navigation map data; checking the detected work orders to identify the work orders which can be carried out with new navigation map data; checking the detected work orders to identify the work orders which cannot be carried out with the new navigation map data; terminating the identified work orders which cannot be carried out with the new navigation map data; deactivating the plurality of work machines; and installing, after deactivating the plurality of work machines, the new navigation map data in the identified work orders which can be carried out with the new navigation map data after terminating the checked work orders. ### Claim 2 (depends on 1) The method according to claim 1, wherein the plurality of work machines are transport machines, and the work orders are transport orders. ### Claim 3 (depends on 1) The method according to claim 1, wherein the old and new navigation map data each have an identifier, and the work orders each have a list of the identifiers of the old and new navigation map data after installing the new navigation map data in the identified work orders. ### Claim 4 (depends on 1) The method according to claim 1, further comprising: inputting a defined time for performing the new navigation map data prior to installing the new navigation map data. ### Claim 5 (depends on 1) The method according to claim 1, wherein detecting work orders for the plurality of work machines further comprises: marking the detected work orders. ### Claim 6 (depends on 5) The method according to claim 5, wherein terminating the checked work orders comprises: aborting the checked work orders. ### Claim 7 (depends on 1) The method according to claim 1, further comprising: stopping the work orders existing in the network before installing the new navigation map data; and restarting the identified work orders which can be carried out with the new navigation map data after installing the new navigation map data. ### Claim 8 (depends on 1) The method according to claim 1, wherein deactivating the plurality of work machines before installing the new navigation map data further comprises: completing non-cyclical work orders which are being performed by at least one first work machine of the plurality of work machines prior to deactivating the at least one first work machine of the plurality of work machines. ### Claim 9 (depends on 1) The method according to claim 1, wherein deactivating the plurality of work machines before installing the new navigation map data further comprises: completing a present cycle of cyclical work orders being performed by at least one second work machine of the plurality of work machines prior to deactivating the at least one second work machine of the plurality of work machines. ### Claim 10 (depends on 1) The method according to claim 1, wherein work orders incompatible with the new navigation map data are still completed on the basis of old navigation map data when installing the new navigation map data. ### Claim 11 (depends on 1) The method according to claim 1, wherein installing the new navigation map data comprises: wirelessly transmitting the new navigation map data to the plurality of work machines having identified work orders which can be carried out with the new navigation map data. ### Claim 12 A work machine network comprising: a plurality of work machines; and a central control device operably connected to the plurality of work machines and configured to detect work orders for the plurality of work machines, which work orders exist in the network and were planned on the basis of old navigation map data, check the detected work orders to identify the work orders which can be carried out with new navigation map data, check the detected work orders to identify the work orders which cannot be carried out with the new navigation map data, terminate the identified work orders which cannot be carried out with the new navigation map data, deactivate the plurality of work machines, and install, after deactivating the plurality of work machines, the new navigation map data in the identified work orders which can be carried out with the new navigation map data after terminating the checked work orders. ### Claim 13 A method of distributing navigation map data to a plurality of mobile robots configured to perform work orders in which goods are transported from one location to another location in an environment, the navigation map data describing a plurality of paths through the environment along which the plurality of mobile robots may travel to perform work orders, the method comprising: receiving, with a central control device, new navigation map data including at least one modification the plurality of paths; identifying, with the central control device, a plurality of work orders for the plurality of work machines that have not yet been completed and which were planned based on navigation map data that is older than the new navigation map data; identifying, with the central control device, a first set of work orders in the plurality of work orders that can be carried out using the modified plurality of paths in the new navigation map data; identifying, with the central control device, a second set of work orders in the plurality of work orders that cannot be carried out using the modified plurality of paths in the new navigation map data; terminating, with the central control device, the second set of work orders that cannot be carried out; and transmitting, with the central control device, the new navigation map data to those mobile robots of the plurality of mobile robots that have a work order in the first set of work orders that can be carried out. ### Claim 14 (depends on 13) The method according to claim 13, wherein the new navigation map data and each previous navigation map data has a respective identifier and each work order in the plurality of work orders has a list of the respective identifiers after transmitting the new navigation map data. ### Claim 15 (depends on 13) The method according to claim 13, further comprising: receiving, as a user input, a defined time for transmitting the new navigation map data, wherein the transmitting the new navigation map data is performed at the defined time. ### Claim 16 (depends on 13) The method according to claim 13, further comprising: visually marking, in a graphical user interface, the second set of work orders that cannot be carried out. ### Claim 17 (depends on 13) The method according to claim 13, further comprising: stopping all work orders in the plurality of work orders that are currently being performed by the plurality of mobile robots, before transmitting the new navigation map data; and restarting performance of any stopped work orders in the first set of work orders that can be carried out, after transmitting the new navigation map data. ### Claim 18 (depends on 13) The method according to claim 13, further comprising: deactivating the plurality of mobile robots before transmitting the new navigation map data. ### Claim 19 (depends on 18) The method according to claim 18, the deactivating the plurality of mobile robots further comprising: completing non-cyclical work orders which are being performed by at least one first mobile robot of the plurality of mobile robots prior to deactivating the at least one first mobile robot; and completing a present cycle of cyclical work orders being performed by at least one second mobile robot of the plurality of mobile robots prior to deactivating the at least one second mobile robot. ### Claim 20 (depends on 13) The method according to claim 13, wherein the second set of work orders that cannot be carried out are still completed based on previous navigation map data before transmitting the new navigation map data.