System for the autonomous home delivery of packages

Abstract

The invention relates to a system for the home delivery of at least one package previously placed in a motorised container (20), which package comprises communication means that allow it to be remotely controlled by a delivery vehicle (10) capable of transporting the container (20) from a storage location of the container (20) to the home (DOM) of the recipient of the package; the vehicle (10) comprising perception sensors and control means capable of guiding the container (20) from the delivery vehicle (10) to a drop-off site (LDP); the container (20) further comprising at least one means (22) for perceiving its environment that assist the perception sensors of the vehicle (10) in guiding the container (20) or replacing the latter for guiding the container (20) when the container (20) is no longer in the field of view or out of range of the perception sensors of the vehicle (10).

Description

DESCRIPTION Title of the invention: Autonomous home parcel delivery system The present invention claims priority from French application 2304848 filed on 05 / 16 / 2023, the content of which (text, drawings and claims) is incorporated herein by reference.

[0001] The present invention relates generally to the field of parcel delivery and relates more particularly to an autonomous home parcel delivery system.

[0002] Home delivery is also referred to as “last mile” delivery to individuals who have placed an order on a merchant site, generally via the internet.

[0003] Today, last-mile delivery is primarily carried out using LCVs, an acronym for Light Utility Vehicles, sometimes called vans or small vans. This type of vehicle is designed to carry small containers. These small containers are also known as mini-containers. They are typically 600 mm wide and 800 mm long.

[0004] This type of container can be used by logistics platforms, from a warehouse, in which the containers are previously stored, to the delivery of the containers containing the packages to or near the end customers, recipients of the packages.

[0005] It is also known that delivery vehicles carry containers which are transported to a specific drop-off area, or collection point, where unloading stations or "docks" in terminology have been previously placed. Anglo-Saxon. This type of container is arranged in lockers, "lockers" in Anglo-Saxon terminology, containing small packages or parcels. The opening of these lockers is conditioned by a code known only to the customer who has previously placed an order and which he must enter to be able to collect his order.

[0006] The container can be secured once it has been temporarily placed in a public space by a locked door, but it will not last long against a malicious act aimed at opening the container and / or moving it from its original storage location, especially if the delivery location is isolated and, in addition, the temporary storage period takes place at night.

[0007] The present invention aims to overcome these drawbacks in particular by proposing a solution making it possible to automate the delivery of a small container from its storage space in a delivery vehicle to a secure container drop-off location adjacent to the home of an individual, the recipient of the package.

[0008] Preferably, the delivery vehicle is a self-driving vehicle or even a driverless vehicle. A self-driving delivery vehicle is generally defined as a vehicle that has ADAS (Advanced Driver Assistance System) functions managed by the vehicle's driver assistance system, also known as an ADAS system, which automates some or all of the driving functions normally performed by the driver.

[0009] In the remainder of the description, the term "container" will be used rather than "mini container" or "box" although the container considered in the description is closer, in its shape and size, to a mailbox and, knowing moreover that the term "container" is the Anglo-Saxon term corresponding to the French term "container".

[0010] The present invention has as its first object, a system for home delivery of at least one parcel previously deposited in a motorized container comprising means of communication by wave allowing its remote control by a delivery vehicle capable of transporting the container from a storage location of the container to the home of the recipient of the parcel; said vehicle comprising perception sensors and further comprising remote control means by wave capable of guiding the container from the delivery vehicle to a deposit location adjoining the home of the recipient located in a private enclosed space whose access is secured by access means with automated opening and closing, capable of being controlled remotely by wave;the delivery vehicle comprising remote control means capable of controlling the opening of said access means before the container is deposited at the deposit location and then the closing of said access means after the container is deposited at the deposit location; said container further comprising at least one means of perception of its environment participating, via the control means, with the perception sensors of the vehicle in guiding the container or replacing the latter for guiding the container to the deposit location when the container is no longer in the field of vision or out of range of the perception sensors of the vehicle.;

[0011] According to one feature, the container's communication means are capable of informing the vehicle about the status of the container.

[0012] According to another characteristic, the container is provided with motorized movement means, controlled by the control means; said movement means being configured so as to allow the movement of the container from the delivery vehicle to the container deposit location while being guided along a trajectory determined by the control means.

[0013] According to another characteristic, the means of movement comprise at least one arrangement of motorized wheels arranged under the container.

[0014] The second subject of the present invention is a vehicle for a system as described above, comprising a system ensuring the autonomous driving of said vehicle comprising perception sensors ensuring the autonomous driving of the vehicle and piloting means capable of ensuring the guidance by waves of a mobile container communicating with the vehicle. Thus, the vehicle comprises a system ensuring the autonomous driving of said vehicle and comprises means capable of cooperating with a system according to the first subject of the invention.

[0015] The third subject of the present invention is a communicating mobile container, for a system as described above, comprising means of communication by waves, at least one means of perception of its environment and at least one arrangement of remotely controllable motorized wheels, capable of being guided by remote control means receiving the information delivered by the perception means of the container via the communication means of the container. Thus, the communicating mobile container comprises means capable of cooperating with a system according to the first subject of the invention.

[0016] The present invention has as its fourth object a method implemented by the system as described above, consisting, once the vehicle is positioned in front of the enclosed space, in controlling the accessibility to the private enclosed space in which the container deposit location is located via the vehicle's perception sensors, in remotely controlling the opening of the means of access to the enclosed space via the vehicle's remote control means, in piloting the container via the vehicle's piloting means to guide it from the vehicle to the container drop-off location, following a trajectory determined by the control means based on information provided by the vehicle's perception sensors and the container's perception means or the perception means alone when the container is no longer in the field of vision or out of range of the vehicle's perception sensors, and once the container has arrived at its drop-off location, to order the closure of the means of access to the enclosed space.

[0017] According to one feature, the method consists of controlling the lowering of a door of the vehicle closing the storage space of the vehicle so as to form a walkway between the floor of the vehicle and the ground surface for unloading the container, before driving the container.

[0018] According to another feature, the method consists of notifying the recipient of the package of a date and time slot for depositing the container on the recipient's smartphone as well as a date and time slot for collecting the container.

[0019] Finally, the fifth subject of the invention is a computer program product comprising instructions which, when the program is executed by a computer, lead the latter to implement the steps of the method as described above.

[0020] The present invention allows for delivery without human intervention between the delivery vehicle and a private home, or in a dedicated location, even in a drop-off area far from and hidden from the vehicle, with curves, obstacles, etc., until the destination. It will thus be possible to travel over a longer distance, easily avoid obstacles, and guide the container inside a space (e.g., a garage) to position it in the best place.

[0021] When the delivery vehicle is an autonomous vehicle, and what is more, without a driver, the delivery is managed completely autonomously, from the departure of the delivery vehicle from the last storage location of the packages that have been previously deposited in the containers, to the homes of the individuals, the recipients. It provides a solution in particular to the problems of delivery in the absence of the recipients to receive the packages (packages) and of securing the packages.

[0022] Other advantages and characteristics of the present invention 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:

[0023] [Fig. 1] illustrates, by a schematic top view, a situation of a delivery system according to the invention;

[0024] [Fig. 2] illustrates a container of the delivery system according to the invention;

[0025] [Fig. 3] illustrates a side view of a delivery vehicle of the delivery system according to the invention;

[0026] [Fig. 4] illustrates a top view of the delivery vehicle of the delivery system according to the invention;

[0027] [Fig. 5] illustrates the delivery vehicle of the delivery system according to the invention in the process of unloading containers; and

[0028] [Fig. 6] illustrates a flowchart of the main steps of a delivery method implemented by the system according to the invention.

[0029] The present invention provides a solution for the home delivery of most small packages (or parcels) related to online commerce (these generally fit in a standard letter box of height = 260 mm x width = 260 mm x depth = 340 mm).

[0030] Although the invention, described below, relates to a delivery system using a fully autonomous delivery vehicle without a driver, it can also be applied to a system using a non-autonomous vehicle, with a driver, but having at least sensors for perceiving its environment and means of communication by waves capable of communicating with the container.

[0031] Before delivery, one or more packages (depending on their size) are previously placed in a motorized container 20 which, in the embodiment described with reference to Figures 1 to 5, is cubic in shape, typically 300 mm on each side. The container 20 is closed by a door, not shown, the opening of which is secured by a code known only to the recipient of the package(s).

[0032] The motorized container 20 is illustrated in Figure 2. It is equipped with movement means 21 using for example an arrangement of wheels, or casters. In the embodiment considered, four wheels 21 (of which only two are visible) are mounted to rotate under the container 20 respectively in the vicinity of the four corners of the square base BCA of the container 20. Two of the four wheels 21 are motorized (for example, the two wheels aligned on the same side of the container 20 as illustrated in Figure 2) and the other two are mounted to rotate freely. The four wheels 21 are arranged so as to cooperate with each other to allow the container 20 to move in all directions.

[0033] The two motorized wheels 21 are, for example, equipped with a system known as "torque vectoring", which makes it possible to turn one of the wheels 21 faster than the other, thus promoting rotation of the container in one direction or the other and therefore without the need for steering wheels.

[0034] Rechargeable batteries, not shown, are used to power each motorized wheel 21 and can be mounted on the wheels 21. Other arrangements of movement means 21 allowing a container 20 to be adapted to make it mobile and motorized are possible.

[0035] The motorized container 20 is also equipped with means of communication 23 using short-distance radio communication protocols such as Wifi, Bluetooth, etc., making it possible to control the container 20 and exchange information on the status of the container 20 throughout its trajectory: “container arrived safely at destination”, “container open”, “request to return to the VAN”, “request to reopen access”, “obstacles detected”, etc.

[0036] Each container 20 further comprises at least one perception means such as a mini camera or a 2D LIDAR (two-dimensional “2D” Light Detection and Ranging). In the example described, a 2D LIDAR, 22, is arranged on the upper part of the container 20, making it possible to scan in “2D” the environment around the container 20 over 360°. Such equipment is now inexpensive and widespread on many robotic everyday objects such as a vacuum cleaner, a lawnmower, etc.

[0037] To simplify the figures, only the 2D LIDAR, 22, has been shown on the container 20 when the latter is shown outside the delivery vehicle 10.

[0038] It should be remembered that a LIDAR designates a remote sensing or optical measurement technology, based on the sending by a transmitter of a light wave in the visible or infrared wavelength spectrum and the recovery by a receiver of the signal reflected by a distant object. The time elapsed between the emission of the wave and the moment when it is detected by the receiver makes it possible to deduce the distance separating the transmitter from the object,

[0039] A 2D LIDAR uses a rotating mirror that scans the light beam around a vertical axis by means of a motor. This system therefore returns a distance measurement vector over a given angular range for a given angular resolution. The information delivered by the 2D LIDAR is processed by an algorithm embedded in the container 20, and transmitted by waves to the control means 33 of the vehicle 10 (figures 4 and 5) via the communication means 23 of the container 20.

[0040] The 2D LIDAR, 22, participates, with perception sensors 24, 25 of the vehicle 10 via control means 33 of the vehicle 10 (figures 4 and 5), in the guidance of the container 20 by exploiting for example a data fusion algorithm, or ensures alone the guidance of the container 20 when the latter is no longer in the field of vision or out of range of the perception sensors 24, 25 of the vehicle 10.

[0041] As illustrated in Figures 3 to 5, the motorized container 20 is transported with other similar containers 20 in an autonomously driven delivery vehicle10 from its last storage location to the home of the recipient of the package(s) COL. A container 20 is dedicated to a single recipient who holds the opening code of the container 20 which was transmitted to the recipient, for example, at the time of notification of delivery.

[0042] In a non-limiting exemplary embodiment, considered with reference to figures 3 to 5 which respectively illustrate the delivery vehicle 10 in a lateral view (side view), a top view and a front (or rear) view, the delivery vehicle 10 is sized to contain and transport forty-five containers 20 respectively potentially dedicated to forty-five different recipients, and which are arranged on three levels superimposed on each other: a lower level 11 corresponding to the floor 12 of the vehicle 10 and to the loading and unloading threshold 13 of the vehicle 10, a lower level 12 corresponding to the floor 13 of the vehicle 10 and to the loading and unloading threshold 14 of the vehicle 10, a lower level 13 corresponding to the floor 14 of the vehicle 10 and to the loading and unloading threshold 15 of the vehicle 10, a lower level 14 corresponding to the floor 15 of the vehicle 10 and to the loading and unloading threshold 16 of the vehicle 10, a lower level 15 corresponding to the floor 16 of the vehicle 10 and to the loading and unloading threshold 17 of the vehicle 10, a lower level 16 corresponding to the floor 17 of the vehicle 10 and to the loading and unloading threshold 18 of the vehicle 10, a lower level 17 corresponding to the floor 18 of the vehicle 10 and to the loading and unloading threshold 19 of the vehicle 10, a lower level 18 corresponding to the floor 19 of the vehicle 10 and to the loading and unloading threshold 19 of the vehicle 10, a lower level 19 ... unloading of the containers 20, an upper level 13 and an intermediate level 14, arranged between the floor 12 and the upper level 13. The forty-five containers 20 are organized on each of the three levels 11, 13 and 14 at the rate of three rows of five containers 20 per level. The upper 13 and intermediate 14 levels are materialized by respectively upper 15 and intermediate 16 platforms. The intermediate 16 and upper 15 platforms are movable in vertical translation inside a storage space EST of the delivery vehicle 10 respectively between storage positions of the containers 20 and loading and unloading positions of the containers 20. The storage space EST is delimited in figures 3 to 5 by a closed line in broken lines.The upper 15 and intermediate 16 plates are each equipped, for example, with four motorized toothed wheels, not shown, arranged respectively at the four corners of the plates 15 and 16. The four toothed wheels cooperate respectively with four vertical rails, also not shown, defining racks.

[0043] The delivery vehicle 10 has the general shape of a hollow rectangular parallelepiped comprising a rectangular rolling base 40 provided with four drive wheels 41 arranged respectively at the four corners of the rolling base 40. Traction batteries BAT are arranged respectively on the front and rear axles of the wheels 41. The wheels 41 are arranged so as to allow rotation of the wheel 41, or steering, on itself by an angle between 0° and 90 in one direction or the other. The angle of 0° corresponds to an absence of rotation of the wheel 41 on itself. In this first configuration, the plane of the wheel 41 extends parallel to the longitudinal axis XX' of the delivery vehicle 10 (figure 4). The angle of 90° corresponds to a rotation of the wheel 41 on itself by an angle of 90° relative to an absence of rotation (angle 0°) of the wheel 41. In this second configuration, the plane of the wheel 41 extends in a direction transverse to the longitudinal axis XX'. Thus, the planes of the four wheels 41 all extend along the longitudinal axis XX' when the delivery vehicle 10 is moving in a straight line. They all extend in the transverse direction, for example, to approach the edge of a ZDL delivery zone, here a TRT sidewalk, adjoining the ZDL delivery zone after being positioned at the height of the ZDL delivery zone (figure

[0044] In the embodiment considered, the vehicle 10 does not have a driver's cab. The storage space EST occupies the majority of the overall volume of the delivery vehicle 10 with the exception of the “front” and “rear” parts which respectively support the front and rear sets of wheels 41. The terms “front” and “rear” are interchangeable insofar as the delivery vehicle 10 does not actually have a front part and a rear part. The storage space EST is between the two pairs of wheels 41 “front” and “rear” and occupies substantially the entire width and height of the delivery vehicle 10. In the example considered, the three rows of five containers 20 extend into the storage space EST, in the wheelbase of the delivery vehicle 10, that is to say between the “front” and “rear” sets of wheels 41.

[0045] The storage space EST is accessible via two openings OUV of generally rectangular shape, made in the two large vertical side walls 17 and 18 of the delivery vehicle 10, from the floor 12 of the vehicle 10 and over the entire length of the storage space EST. These openings OUV are respectively closed by doors 51 and 52, also of generally rectangular shape, and which define a part of the side walls 17 and 18 themselves when they are closed. When they are closed, the doors 51 and 52 are arranged so as to ensure the holding of the containers 20 which are opposite the doors 51 and 52 to prevent their movement during transport. The doors 51 and 52 also act as motorized unloading platforms after their deployment (opening), here the door 52 (figure 5), and are also designated by the term "tailgate". They are articulated in the vicinity of the unloading threshold of the vehicle 10 which corresponds substantially to the floor 12 of the vehicle 10 and which is substantially at the same height as that of a TRT sidewalk (approximately 120 mm). The unloading thresholds, respectively loading thresholds, therefore extend between the "front" wheels 41 and the "rear" wheels 41. In the open position, the door 52 serves as an access ramp to allow the containers 20 to reach the TRT sidewalk with a reduced slope.The height of the doors 51 and 52, therefore of the side openings OUV, may correspond to the height of the intermediate platform 16 or to the height of the upper platform 15 in the storage position of the containers 20, as in the embodiment considered in Figure 5. The doors 51 and 52 are equipped with a motorized and controlled mechanism, not shown, so as to allow their automated deployment (opening / closing) and transform them into a platform for unloading the containers 20 once the latter are fully deployed.

[0046] In the example arrangement considered, and as illustrated in Figure 5, when the door 52 is open, one of the five containers of the lower level 11, level corresponding to the level of the unloading threshold, opposite the opening OUV, is able to be guided towards its deposit location LDP. When the lower level 11 is emptied of its fifteen containers 20, the intermediate platform 16 is lowered to the floor 12 so as to allow the unloading of the fifteen other containers 20 supported by the intermediate platform 16. At the same time, the upper platform 15 is lowered to take the position previously occupied by the intermediate platform 16. When the intermediate platform 16 is emptied of its containers 20, it is the turn of the upper platform 15 to lower itself to the floor 11 to be able to unload the fifteen other containers supported by the upper platform 15.

[0047] Delivery vehicle 10 is a level L4 or L5 autonomous driving vehicle (levels L4 and L5 correspond to autonomy levels defined by the J3016 standard of “SAE International”).

[0048] As illustrated in Figures 3 and 4, it is equipped with perception sensors 24: camera, radar, etc. including a scanner 25 allowing it to scan its environment for parking the vehicle 10 near the delivery location: available parking space, curb, etc. The sensors 24, 25 belong to the autonomous driving system 30 of the vehicle 10, system 30 which is primarily made up of an ADAS system (an English acronym for “Advanced Driver-Assistance System”). The autonomous driving system 30 comprises 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 for the movement of the vehicle 10 and for the control of the containers 20 once the delivery vehicle 10 is parked near the delivery zone ZDL (against the curb TRT).

[0049] The autonomous driving system 30 also includes a navigation system designated by GPS system 31. The GPS system 31 includes a GPS receiver coupled to a map database, not shown. The autonomous driving system 30 also includes means 33 for controlling the containers 20. These means 33 can be dedicated to controlling the containers 20 or belong to the ADAS system of the vehicle 10 and therefore to the autonomous driving system 30.

[0050] The vehicle 10 also includes communication means 32 allowing it to communicate with the communication means 23 of the container 20. The control means 33 use the communication means 32 to radio-guide the container 20 based on the information provided by the perception sensors 24, 25 of the autonomous driving system 30 and the 2D LIDAR 22. The vehicle 10 is therefore able to control the container 20 to guide it from the vehicle 10 to a specific LDP drop-off location, inside an enclosed space ECL with secure access, and adjoining the DOM home of the recipient of the COL package.

[0051] The perception sensor (2D LIDAR) 22 of the container 20 can supplement or replace those 24, 25 of the vehicle 10 depending on the circumstances.

[0052] Thus, when the perception sensors 24, 25 of the vehicle 10 no longer allow the container 20 to be guided, then it is the perception sensor 22 of the container 20 which alone ensures the guidance of the container 20 to its destination via the control means 33 of the vehicle 10.

[0053] This is for example the case when the trajectory of the container 20 passes through masked zones or zones out of range of the perception sensors 24, 25 of the vehicle 10. By masked zones, we mean zones which are no longer in the field of vision of the perception sensors 24, 25 of the vehicle 10, because of curves, obstacles, etc.

[0054] The LDP deposit location may be located on the other side of the recipient's DOM home from access to the private and enclosed ECL space or inside a building, a garage for example, and therefore no longer be visible from the parking location of vehicle 10.

[0055] The delivery vehicle 10 further comprises a module 34 (figures 3 and 4) for controlling the opening and closing of access means 60 securing access to the private and enclosed space ECL. The control module 34 is capable of connecting via a secure connection interface, not shown, to the automatic opening and closing means 60 providing access to the enclosed space ECL, for example, a gate or access portal to the driveway leading to the recipient's DOM home in the case of individual or collective residential housing in the case of a housing estate, or a door or gate closing a room or enclosed area of ​​a residential building, dedicated to the parking of this type of container 20.

[0056] To optimize delivery by avoiding as much as possible unavoidable obstacles and / or routing errors, a prior reconnaissance of the delivery locations (address and accessibility of the locations) is carried out.

[0057] A delivery scenario for container 20 is described below.

[0058] A customer first places an order for goods on an online merchant site. This merchant site generally uses a first delivery agent (carrier). The delivery agent has a first storage location, or warehouse, (often far from the customer) in which the package, the subject of the order, is stored. The package is then taken care of by a second carrier to transport the package to a second storage location before finally being taken care of for the final delivery known as the "last mile". It is in this last storage location that the packages are containerized and the containers are loaded into the delivery vehicle.

[0059] The scheduling of the containers 20 in the delivery vehicle 10, at the time of loading, responds to the planning of a determined delivery “tour” pre-programmed in a memory of the vehicle 10 in connection with its navigation system 31 and the autonomous driving system 30 of the vehicle 10.

[0060] Once the containers 20 have been loaded into the vehicle 10 and the “route plan” for the delivery tour has been programmed into the memory of the vehicle 10, the delivery vehicle 10 then carries out, in a completely autonomous manner, the delivery of the container 20 containing the COL package(s) to the DOM home of the recipient (the recipient, or customer, who placed the order).

[0061] Prior to delivery, the recipient is notified of the day and approximate time of delivery via an email notification or via the messaging system of a dedicated delivery service application that they will have previously downloaded onto their mobile device, particularly a smartphone. The recipient will therefore be able to advantageously ensure that access to the LDP drop-off location for container 20 is clear (free and accessible).

[0062] It does not need to be present at the time of delivery from the moment when the access means 60 to the LDP deposit location are able to communicate with the remote control means 34 of the delivery vehicle 10 to allow the opening of the access means 60 before the deposit of the container 10 and then the closing of these same access means 60 once the deposit has been made. The remote control means 34 are hosted in the autonomous driving system 30 and share the same communication means 32 or have their own communication means (not shown). The compatibility of the access means 60 (gate, portal, etc.) with the remote control means 34 of the delivery vehicle 10 will have been advantageously previously verified. Any malfunction of the access means 60 (failure or malfunction of the remote control) prohibits delivery.

[0063] Once container 20 has reached its destination (the LDP drop-off location), the manager or delivery agent of the “last mile” storage location is informed of the delivery as well as the recipient via a notification on their smartphone.

[0064] The delivery vehicle 10 continues its delivery round after ordering the closure of the access means 60. The vehicle 10 will recover the container 20 emptied of its contents later during a round which will be notified to the customer.

[0065] The main steps of a method for unloading and guiding the container 20 from the delivery vehicle 10 to the LDP drop-off location adjacent to the DOM home of the recipient of the package, such as a parking area, a garage, etc., are described below. In the example in Figure 1, the LDP drop-off location is a parking area symbolized in Figure 1 by a gray rectangle and located behind the recipient's DOM home.

[0066] It is assumed that in a step prior to delivery, a survey of the ZDL delivery zone where the recipient's DOM home is located has been carried out, in particular to ensure that the ZDL delivery zone has a sufficiently flat and clear delivery space to accommodate the 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 LDP drop-off location, a few meters at most from the delivery vehicle 10, has been carried out. Thanks to the perception sensor 22 of the container 20, the latter can move several tens of meters away from the vehicle 10 to reach the LDP drop-off location.

[0067] The delivery vehicle 10, after having geolocated the delivery location via its navigation system 31, heads to this location. (unloading location) by following a route indicated by its navigation system 31. Arriving at the location, after having recognized the location (pre-recorded for example in a database of delivery locations), and at the height of the ZDL delivery zone, the vehicle 10 prepares to approach the ZDL delivery zone for its parking.

[0068] After having previously measured the space available for its parking, for example between two vehicles parked along a TRT sidewalk, the vehicle 10 turns its wheels 41 by 90° and completes the maneuver by translating it to position itself as close as possible to the TRT sidewalk when there is one or at a determined distance from the means of access 60 when the ground of the ZDL delivery zone is level.

[0069] The process of unloading and guiding the container 20 then takes place in a fully automated manner by the following steps illustrated by the flowchart in Figure 6.

[0070] In a first step 100, the delivery vehicle 10 being parked near the delivery zone ZDL, the method consists of checking the accessibility to the means 60 giving access to the enclosed space ECL in which the deposit location LDP of the container 20 is located (no unavoidable obstacle between the delivery vehicle 10 and the enclosed space ECL and in particular no pedestrian, for the deployment of the door 52) via the perception means 24, 25 of the vehicle 10 and in particular the scanner 25.

[0071] In a second step 200, the method controls the remote opening of the means 60 providing access to the enclosed space ECL via the remote control means 34.

[0072] Then in a third step 300, the vehicle 10 controls the lowering of the door 52 of the vehicle 10 so as to form a walkway between the floor 12 (or unloading threshold) of the vehicle 10 and the ground (sidewalk or level).

[0073] Then the method consists, in a fourth step 400, in controlling the movement of the rolling container 20 via the perception sensors 24, 25 of the vehicle 10 and the perception means 22 of the container 20 from the delivery vehicle 10 to the LDP drop-off location (final delivery destination) of the container 20, or only via the perception means 22 of the container 10 to the LDP drop-off location when the container 20 is no longer in the field of vision or out of range of the perception sensors 24, 25 of the vehicle 10 while respecting a trajectory T determined by the control means 33.

[0074] Finally, in a fifth step 500, once the container 20 has reached its storage location LDP, the method consists of controlling the closing of the access means 60 to the enclosed space ECL and the door 52 of the storage space EST is then controlled to return to its initial position of closing the storage space EST.

[0075] Vehicle 10 can then continue its delivery tour as planned and repeat the process at another delivery location or return to its starting point at the end of the tour.

[0076] The procedure for retrieving the container 20 is carried out in a similar manner apart from the step of piloting the container 20 which guides the container 20 from the LDP deposit location to the delivery vehicle 10 after having previously ordered the access means 60 for opening the enclosed space ECL and then closing it once the container 20 has left the enclosed space ECL. A date and a time slot for the collection of the container 20 are notified to the recipient via his smartphone.

Claims

CLAIMS 1. Home delivery system for at least one package (COL) previously placed in a motorized container (20) comprising means of communication by wave (23) allowing its remote control by a delivery vehicle (10) capable of transporting the container (20) from a storage location of the container (20) to the home (DOM) of the recipient of the package (COL); said vehicle (10) comprising perception sensors (24, 25) and further comprising remote control means (33) by wave capable of guiding the container (20) from the delivery vehicle (10) to a deposit location (LDP) adjoining the home (DOM) of the recipient located in a private enclosed space (ECL) whose access is secured by access means (60) with automated opening and closing, capable of being controlled remotely by wave;the delivery vehicle (10) comprising remote control means (34) capable of controlling the opening of said access means (60) before the container (20) is deposited at the deposit location (LDP) and then the closing of said access means (60) after the container is deposited at the deposit location (LDP); said container (20) further comprising at least one means of perception (22) of its environment participating, via the control means (33), with the perception sensors (24, 25) of the vehicle (10) in the guidance of the container (20) or replacing the latter (24, 25) for the guidance of the container (20) to the deposit location (LDP) when the container (20) is no longer in the field of vision or out of range of the perception sensors (24, 25) of the vehicle (10).; 2. System according to the preceding claim, in which the communication means (23) of the container (20) are capable of informing the vehicle (10) about the state of the container (20).

3. System according to the preceding claim, in which the container (20) is provided with motorized movement means (21), controlled by the control means (33); said movement means (21) being configured so as to allow the movement of the container (20) from the delivery vehicle (10) to the container deposit location (LDP) while being guided along a determined trajectory (T) by the control means (33).

4. System according to the preceding claim, in which the movement means (21) comprise at least one arrangement of motorized wheels arranged under the container (20).

5. Vehicle (10) comprising a system (30) ensuring the autonomous driving of said vehicle (10) and characterized in that the vehicle comprises means capable of cooperating with a system according to one of the preceding claims.

6. Communicating mobile container (20) characterized in that it comprises means capable of cooperating with a system according to one of claims 1 to 4.

7. Method implemented by the system according to one of claims 1 to 4, consisting, once the vehicle (10) is positioned in front of the enclosed space (ECL), in controlling (100) the accessibility to the private enclosed space (ECL) in which the deposit location (LDP) of the container (20) is located via the perception sensors (24, 25) of the vehicle (10), in remotely controlling (200) the opening of the access means (60) to the enclosed space (ECL) via the remote control means (34) of the vehicle (10), in piloting (400) the container (20) via the piloting means (33) of the vehicle (10) to guide it from the vehicle (10) to the place of deposit (LDP) of the container (20) while respecting a trajectory (T) determined by the control means (33) from the information delivered by the perception sensors (24, 25) of the vehicle (10) and the perception means (22) of the container (20), or of the perception means (22) alone when the container (20) is no longer in the field of vision or out of range of the perception sensors (24, 25) of the vehicle (10), and once the container (20) has arrived at its deposit location (LDP), to command (500) the closing of the access means (60) to the enclosed space (ECL).

8. Method according to the preceding claim, consisting of controlling (300) the lowering of a door (52) of the vehicle (10) closing the storage space (EST) of the vehicle (10) so as to form a walkway between the floor (12) of the vehicle (10) and the ground surface for unloading the container (20), before piloting (400) the container (20).

9. Method according to the preceding claim, consisting of notifying the recipient of the package (COL) of a date and time slot for depositing the container (20) on the recipient's smartphone as well as a date and time slot for collecting the container (20).

10. Computer program product comprising instructions which, when the program is executed by a computer, cause the latter to implement the steps of the method according to one of claims 7 to 9.

Images