FR3134465A1 - System for automated placement of a container in public space from a delivery vehicle transporting said container - Google Patents

Abstract

System for automated placement of at least one container (20) on a delivery area (40), from a delivery vehicle (10) comprising a driving assistance system and perception sensors, in which the container (20) comprises sensors for perception of its environment (E), in which the vehicle (10) and the container (20) respectively comprise wave communication means (32, 23) allowing remotely exchange the information delivered by their respective perception sensors; said driving assistance system being further configured to cooperate with control means making it possible to guide the container (20) from the vehicle (10) to the delivery area (40) following a determined trajectory (T ) from the information delivered by the perception means of the vehicle (10) and the container (20). (Figure 2)

Description

System for automated placement of a container in public space from a delivery vehicle transporting said container

The present invention generally relates to the field of delivery and relates more particularly to a system for automated placement of a container in public space from a delivery vehicle transporting said container. The delivery vehicle is used in particular for so-called “last mile” deliveries.

Today, last mile delivery is mainly done using LCVs, an acronym for Light Utility Vehicles, sometimes called “vans” or even “vans”. This type of vehicle is suitable for transporting small containers, or “containers” in English. These small containers are also referred to as “mini-containers”. They typically have a width of 600 mm and a length of 800 mm.

Delivery vehicles carrying containers which are transported to a specific drop-off zone, or collection point, on which unloading stations or “docks” in Anglo-Saxon terminology have previously been placed are also known. This type of containers is arranged in lockers, “lockers” in Anglo-Saxon terminology. Access to these lockers is conditioned by a code known only to the customer who has previously placed an order and which he must enter in order to collect his order.

This type of delivery is cumbersome to set up and requires setting up docks and then unloading the lockers on the docks. The delivery vehicle must be positioned against the dock to unload the lockers, which requires having a relatively large and accessible drop-off area. The dock’s reception area must also be at the same height as the loading threshold of the delivery vehicle.

The present invention aims to overcome these drawbacks in particular by proposing a solution making it possible to automate the installation of a container from its storage location in the delivery vehicle to an area of the public space without specific development (without having to use “docks”).

For this purpose, the present invention has as its first object, a system for automated installation of at least one mobile container communicating, on a delivery area, from a delivery vehicle transporting said container in a storage space of said vehicle, said vehicle being parked near the delivery area, in which the vehicle comprises a driving assistance system and perception sensors coupled to the driving assistance system, for assistance in driving driving the vehicle, in which the container comprises sensors for perception of its environment, in which the vehicle and the container respectively comprise means of communication by wave making it possible to remotely exchange the information delivered by their respective perception sensors ; said driving assistance system being further configured to cooperate with control means making it possible to guide the container from the vehicle to the delivery area following a trajectory determined from the information delivered by the means of perception of the vehicle and container.

According to one characteristic, the container is provided with motorized movement means, guided by the control means; said movement means being configured so as to allow movement of the container from the vehicle to the delivery area following the determined trajectory.

According to another characteristic, the means of movement comprise at least one arrangement of motorized wheels arranged under the container.

According to another characteristic, the vehicle comprises unloading means supported by a motorized deployment mechanism and articulated around the loading threshold of the vehicle's storage space; said means being controlled to deploy from the loading threshold, outside the storage space, to a deployment position corresponding to the level of the delivery area; said means being configured to define a rolling surface for the container between the loading threshold and the level of the delivery area.

According to another characteristic, the delivery vehicle is an autonomous vehicle.

The second object of the present invention is a vehicle for a system as described above, comprising a driving assistance system for said vehicle, control means coupled to the driving assistance system, capable of guiding by lane wave a mobile container communicating with the vehicle, and perception sensors capable of providing, in cooperation with perception sensors of the communicating container, information for guiding the container.

The third object of the present invention is a communicating mobile container for a system as described above, comprising sensors for perception of its environment, means of communication by wave and means of movement capable of being guided by means of remote control via means of communication.

According to one characteristic, the means of movement comprise at least one arrangement of motorized wheels that can be controlled remotely.

The fourth object of the present invention is a method implemented by a system as described above, consisting of:

- in a first step, to control the accessibility of the delivery area via the vehicle's perception sensors;

- in a second step, to control the deployment of the unloading means defining a platform, up to a first fixed horizontal position, so as to extend the loading threshold of the container outside the vehicle;

- in a third step, when the platform has reached the first fixed horizontal deployment position, to control the movement of the container outside its storage space to position itself on the platform outside the vehicle;

- in a fourth step, once the container is completely out of its storage space, and positioned securely on the platform, to control the deployment of the platform to a second fixed horizontal position, called docking, corresponding to the level of the delivery area;

- in a fifth step, once the docking position is secure, to control the orientation of the container towards the delivery area;

- in a sixth step, to verify that the determined trajectory of the container between the platform and the delivery area meets specific safety requirements;

- in a seventh step, to guide the container from the platform to the delivery area following the determined trajectory; And

- in an eighth step, once the container is positioned on the delivery area, to immobilize the container.

The fifth object of the present invention is a method implemented by a system as described above, consisting of:

- in a first step, to control the accessibility of the delivery area via the vehicle's perception sensors;

- in a second step, to control the deployment of the unloading means defining at least one ramp, from the loading threshold of the container to the level of the delivery area;

- in a third step, to verify that the determined trajectory of the container between the ramp and the delivery area meets specific safety requirements;

- in a fourth step, to guide the container from the loading threshold to the delivery area following the determined trajectory; And

- in a fifth step, once the container is positioned on the delivery area, to immobilize the container.

Other advantages and characteristics may emerge more clearly from the description which follows, given solely by way of non-limiting example and made with reference to the drawings in which:

illustrates, in a schematic top view, a first arrangement of a delivery vehicle in a system for setting up a mobile container communicating on a delivery area, according to the invention; And

illustrates the arrangement of the , following a perspective view;

illustrates a flowchart of the main steps of a process implemented by the system according to the invention for the first arrangement; And

illustrates a flowchart of the main steps of a method implemented by the system according to the invention for a second arrangement of a delivery vehicle in a system for setting up a mobile container communicating on a delivery area, according to the invention.

The present invention allows automated installation of a container in public space. By public space, or public place, we mean in the broad sense for example a square, a sidewalk, a parking space as well as a space such as a building courtyard, a square, etc.

The term “loading threshold” used in the following description defines both access to the storage space from the rear of the vehicle and access from one of the edges or both side edges of the vehicle.

In a first arrangement, illustrated in , a vehicle 10, suitable for the delivery of containers 20, is equipped with a motorized lifting unloading platform 11, of generally rectangular shape, also called lifting tailgate, articulated in the vicinity of the unloading threshold 12 of the vehicle 10 at the rear of the vehicle 10. The tailgate 11 is equipped with a motorized and controlled mechanism 13, so as to allow its automated deployment. It is capable of partially or completely closing the opening 14 of the storage space 15 when the tailgate 11 is in the vertical deployment position (closing position). It is also capable of taking different positions from the closed position to a low position called unloading on the ground. It can also define an inclined plane between the unloading threshold 12 and the ground.

The tailgate 11 can be replaced by an inclined plane forming a ramp, or a pair of unloading ramps, not shown, whose deployment is also done from the unloading threshold 12. In this case, the container 20 can be guided directly from storage space 15 to delivery area 40.

A tailgate 11 allows loads to be placed directly on the ground, on the road or on a TRT sidewalk and for different TRT sidewalk heights. The mechanism 13 includes a hydraulic (cylinder) and electric (electric motor) part, not shown, and can be controlled remotely. The floor of the storage space 15 is provided with guide rails 16 (here, two pairs of rails) extending to the tailgate 11. These rails 16 ensure both the positioning and the lateral maintenance of the containers 20 in the storage space 15 during transport, and the guidance in rectilinear translation of the containers 20 for their exit from this space 15 to the tailgate 11. In the first arrangement illustrated in , the opening 14 of the storage space 15 is located at the rear of the vehicle 10. The storage space 15 makes it possible to store four mini containers 20 (two rows of two mini containers) including the floor surface of each corresponds to that of a half-pallet (Euro-pallet). Thus, the width of the containers 20 is approximately 600 mm (1.2 m/2) and their length is 800 mm (the surface of a pallet is 1200 mm x 800 mm). The width of the opening 14 of the storage space 15 between the rear wheel arches of the vehicle 10, not shown, is approximately 1250 mm. The surface of the tailgate 11 can be extended by adding lateral extension means 17 articulated on one of the edges or both side edges of the tailgate 11 (here, a single extension 17 is deployed from the left side edge of the tailgate 11). These extension means 17 can for example be deployed laterally in rotation or in translation from the side edges of the tailgate 11.

In a second vehicle arrangement, not shown, access to the storage space is via one of the two lateral sides, or both lateral sides, of the vehicle, the unloading platform, or the ramps, are articulated on the one of the edges, or both side edges of the storage space. In this second arrangement, the rails are arranged so as to allow the container to be guided in a direction perpendicular to the longitudinal direction of the vehicle.

In either of the first and second arrangements, each container 20 is equipped with movement means 21 using, for example, an arrangement of wheels, or casters, as illustrated in . In this example, four wheels 21 are mounted to rotate under the container 20 respectively in the vicinity of the four corners of the rectangular base of the container 20. At least two wheels are motorized (for example, the two wheels aligned on the same small lateral side of the container 20) and guidelines. They are arranged in such a way as to allow the container 20 to rotate on itself by half a turn.

As a variant, the two wheels are equipped with a system designated by the Anglo-Saxon name "torque vectoring", meaning vector torque, which allows one of the wheels to rotate faster than the other, thus promoting the rotation of the container in one direction or the other and therefore without the need for steering wheels.

Rechargeable batteries, not shown, make it possible to power each motorized wheel 21 and can be loaded on the wheels 21. Other arrangements of means of movement 21 making it possible to adapt a container 20 to make it mobile and motorized are possible.

For example, the wheels 21 can be replaced by a tracked or mixed system: wheels and tracks,

The container 20 is also equipped with simple perception sensors 22: a camera, proximity sensors, etc. associated with means of communication 23 using radio communication protocols such as Wifi, Bluetooth, 5G, etc.

The delivery vehicle 10 is equipped with perception sensors 24, 25 which are coupled to the driving assistance system 30 of the vehicle 10, also designated by the ADAS system (English acronym for “Advanced Driver-Assistance System”). We will deliberately confuse the ADAS system 30 with the ADAS “supervisor” which is the body intended to supervise all of the ADAS functions within the vehicle 10. The vehicle 10 also includes a navigation system designated by the GPS system 31. The system GPS 31 includes a GPS receiver coupled to a cartographic database, not shown. The vehicle 10 also includes control means 33 of the containers 20. These means 33 can be dedicated to control by being coupled to the ADAS system 30 or belong to the ADAS system 30. The vehicle 10 also includes communication means 32 allowing it to exchange with the communication means 23 of the container 20. The control means 33 use the communication means 32 to guide the container 20 based on the information provided by the perception sensors 22 of the container 20 and that provided by the perception sensors 24 , 25 of the vehicle 10. The vehicle 10 is therefore able to control the container 20 to guide it from the vehicle 10 to a delivery area 40 previously geolocated by the vehicle 10 via its navigation system 31 and validated by the sensors perception 24 of the vehicle 10.

The vehicle 10 is for example an autonomous vehicle. To simplify, in the description which follows, we will designate by autonomous vehicle, or vehicle with an autonomous driving mode, a vehicle which uses driving assistance functions making it possible to automate certain driving functions or even all the functions. driving duties usually assigned to the driver.

The ADAS 30 system includes a plurality of computers, not shown, also called ECU (Electronic Control Unit). These computers receive and process data delivered by the on-board sensors 24, 25 in the vehicle 10 and those delivered by the sensors 23 of the container 20 for the guidance of the latter.

The delivery vehicle 10 can be fully autonomous at level L5 (level L5 corresponds to a level of autonomy defined by the “SAE International” standard J3016). In this case, the ADAS 30 system has at its disposal a multitude of sensors 24 including a scanner 25 allowing it to scan its entire environment E and in particular a pre-recorded delivery area 40.

The steps of a process for automated placement of a container 20 on a delivery area 40 are described below, implemented by the system according to the invention with the first arrangement illustrated in Figures 1 and 2.

Preferably, in a preparatory step for delivery, the location where the delivery area 40 is located is carried out, in particular to ensure that the location has a sufficiently flat and clear delivery area 40 allowing accommodate a rolling container 20. It is also considered that a preliminary test of the trajectory T for guiding the container 20 from the vehicle 10 to the delivery area 40, at most a few meters away, could have been carried out.

The delivery vehicle 10, after having geolocated the delivery location via its navigation system 31, heads to this location (unloading location) following a route indicated by its navigation system 31, in manual driving mode or autonomous. Arriving at the scene, after recognizing the location (pre-recorded for example in a database of delivery locations), the vehicle 10 positions itself as close as possible to the delivery area 40, for example at the edge of the TRT sidewalk if the Delivery area 40 is located on a TRT sidewalk.

The installation process then takes place in a completely automated manner through the following steps illustrated by the flowchart of the .

In a first step 100, the method consists of checking the accessibility of the delivery area 40 (no obstacle between the vehicle 10 and the delivery area 40 and in particular no pedestrian) via the scanner 25 of the vehicle 10 in particular. The delivery area 40 can be marked or ground and/or be identified by its GPS coordinates. In a second step 200, the method controls the lowering of the tailgate 11 closing the rear of the vehicle 10 and therefore the storage space 15. The storage space 15 can also be closed by a rolling shutter type door, not shown, and whose opening is controlled simultaneously with the deployment of the tailgate 11 or before its deployment. In its storage position, the container 20 is oriented in the vehicle 10 so as to present its small dimension, its width, facing the opening 14 of the storage space 15 (here, opening at the rear of the vehicle 10 ). The tailgate 11 is controlled to gradually deploy from its vertical position to a first horizontal position, so as to extend the loading threshold 12 of the container 20 outside the vehicle 10. The tailgate 11 advantageously comprises one or two side flaps d mobile and motorized extension 17, left and/or right, making it possible to increase the surface of the tailgate 11 on one of the edges corresponding to the edge of the TRT sidewalk so as to form a gateway between the lateral edge of the tailgate 11 and the surface S of the TRT sidewalk on which the free edge of the footbridge will rest (extension 17). Proximity sensors, a camera, etc. (not shown) arranged at the rear of the vehicle 10 ensure that no obstacle prevents the deployment of the tailgate 11 and its extensions 17. In a third step 300, when the tailgate 11 has reached the first fixed horizontal deployment position, the method consists of controlling the movement of the motorized rolling container 20 outside its storage space 15 to position itself on the platform (tailgate 11 horizontally), outside the vehicle 10. The container 20 leaves its storage space 15 following a pair of longitudinal guide rails 16 arranged on the floor of the storage space 15.

Once the container 20 is completely out of its storage space 15, and positioned securely on the tailgate 11, for example by blocking the movement means 21 (wheels), the method consists of a fourth step 400, to be controlled the descent of the tailgate 11 held in a horizontal position, until reaching a second fixed horizontal deployment position corresponding to level S of the TRT sidewalk (docking maneuver). The lateral extension 17 of the tailgate 11 on the side of the TRT sidewalk extends until it rests on the surface S of the TRT sidewalk so as to form a continuous rolling surface between the tailgate 11 and the surface S of the TRT sidewalk. In a fifth step, 500 once the docking maneuver is secure (no obstacles and stabilized gangway), the container 20 which is positioned on the tailgate 11 with the large dimension (length) of the container extending along the axis longitudinal of the vehicle 10 and therefore perpendicular to the TRT sidewalk, is controlled to orient itself towards the TRT sidewalk, for example by turning a half-turn towards the TRT sidewalk, so as to position itself in the direction of the delivery area 40, thanks to its motorized wheels 21. The driving wheels 21 are also steered and they are arranged to allow such rotation. In a sixth step 600, the method consists of using the perception sensors 24, 25 to scan the environment E in order to verify that the trajectory T of the container 20 meets specific security requirements: for example, no obstacles in particular no pedestrian on the trajectory T. In a seventh step 700, the process consists of guiding the container 20 from the platform (tailgate 11 in the low position) to the delivery area 40. The driving and steering wheels 21 of the container 20 allow it to move while being guided from the trajectory information T emitted by the control means 33 of the delivery vehicle 10 via the communication means 32. Finally, in an eighth step 800, once the container 20 is positioned on the delivery area 40, the process consists of immobilizing the container 20: the wheels 21 are immobilized (blocking of the wheel motors 21 and/or wheel brakes 21) and the tailgate 11 is then controlled to return to its position initial closing of the storage space 15. The vehicle 10 can then continue its delivery tour and repeat the process at another delivery location or return to its starting point.

The container 20 is then ready and operational to fulfill its function of providing packages for example (locker type container).

A similar method applies to the second arrangement, consisting in a first step 101, of controlling the accessibility of the delivery area 40 via the perception sensors 25 of the vehicle 10, in a second step 201, of controlling the deployment of the unloading means defining at least one ramp, from the loading threshold 12 of the container 20 to the level S of the delivery area 40, in a third step 301, to verify that the determined trajectory T of the container 20 enters the ramp and the delivery area 40 meets the safety requirements, in a fourth step 401, to guide the container 20 from the loading threshold 12 to the delivery area 40 following the determined trajectory T, and in a fifth step 501, once the container 20 is positioned on the delivery area 40, to immobilize the container 20.

Claims (10)

System for automated installation of at least one communicating mobile container (20), on a delivery area (40), from a delivery vehicle (10) transporting said container (20) in a storage space ( 15) of said vehicle (10), said vehicle (10) being parked near the delivery area (40), in which the vehicle (10) comprises a driving assistance system (30) and sensors of perception (24, 25) coupled to the driving assistance system (30), for assistance in driving the vehicle (10), in which the container (20) comprises perception sensors (22) of its environment (E), in which the vehicle (10) and the container (20) respectively comprise means of wave communication (32, 23) making it possible to remotely exchange the information delivered by their respective perception sensors (24 ,25 and 23); said driving assistance system (30) being further configured to cooperate with control means (33) making it possible to guide the container (20) from the vehicle (10) to the delivery area (40) following a determined trajectory (T) from the information delivered by the perception means (24,25 and 23) of the vehicle (10) and the container (20). System according to the preceding claim, in which the container (20) is provided with motorized movement means (21), guided by the control means (33); said movement means (21) being configured so as to allow movement of the container (20) from the vehicle (10) to the delivery area (40) following the determined trajectory (T). System according to the preceding claim, in which the movement means (21) comprise at least one motorized wheel arrangement arranged under the container (20). System according to the preceding claim, in which the vehicle (10) comprises unloading means (11) supported by a motorized deployment mechanism (13) articulated around the loading threshold (12) of the storage space (15) of the vehicle (10); said means (11) being controlled to deploy from the loading threshold (12), outside the storage space (15), to a deployment position corresponding to the level (S) of the delivery area (40); said means (11) being configured to define a rolling surface for the container (20) between the loading threshold (12) and the level (S) of the delivery area (40). System according to one of the preceding claims, in which the delivery vehicle (10) is an autonomous vehicle. Vehicle (10) for a system according to any one of the preceding claims, comprising a driving assistance system (30) of said vehicle (10), control means (33) coupled to the driving assistance system (30), capable of guiding by wave a mobile container (20) communicating with the vehicle (10), and perception sensors (24, 25) capable of providing, in cooperation with perception sensors (22) of the communicating container (20), information for guiding the container (20). Communicating mobile container (20), for a system according to one of claims 1 to 5, comprising sensors for perception (22) of its environment, wave communication means (23) and movement means ( 21) capable of being guided by remote control means (33) via the communication means (23). Container (20) according to the preceding claim, in which the movement means (21) comprise at least one arrangement of motorized wheels that can be controlled remotely. Method implemented by a system according to claims 1 to 5, consisting of:
- in a first step (100), to control the accessibility of the delivery area (40) via the perception sensors (25) of the vehicle (10);
- in a second step (200), to control the deployment of the unloading means (11) defining a platform, up to a first fixed horizontal position, so as to extend the loading threshold (12) of the container (20) in outside the vehicle (10);
- in a third step (300), when the platform (11) has reached the first fixed horizontal deployment position, to control the movement of the container (20) outside its storage space (15) to position itself on the platform (11) outside the vehicle (10);
- in a fourth step (400), once the container (20) is completely out of its storage space (15), and positioned securely on the platform (11), to control the deployment of the platform (11 ) to a second fixed horizontal position, called docking, corresponding to the level (S) of the delivery area (40);
- in a fifth step (500), once the docking position is secure, to control the orientation of the container (20) towards the delivery area (40);
- in a sixth step (600), to verify that the determined trajectory (T) of the container (20) between the platform (11) and the delivery area (40) meets determined safety requirements;
- in a seventh step (700), to guide the container (20) from the platform (11) to the delivery area (40) following the determined trajectory (T); And
- in an eighth step (800), once the container (20) positioned on the delivery area (40), to immobilize the container (20). Method implemented by a system according to claims 1 to 5, consisting of:
- in a first step (101), to control the accessibility of the delivery area (40) via the perception sensors (25) of the vehicle (10);
- in a second step (201), to control the deployment of the unloading means defining at least one ramp, from the loading threshold (12) of the container (20) to the level (S) of the delivery area ( 40);
- in a third step (301), to verify that the determined trajectory (T) of the container (20) between the ramp and the delivery area (40) meets determined safety requirements;
- in a fourth step (401), to guide the container (20) from the loading threshold (12) to the delivery area (40) following the determined trajectory (T); And
- in a fifth step (501), once the container (20) positioned on the delivery area (40), to immobilize the container (20).