RECOGNITION OF MOVABLE MOBILE CONTAINERS WITHIN A SPACE

Abstract

A system (SYR) enables the recognition of movable containers (CMj) within a space by means of control commands transmitted wirelessly, and comprises: - an analysis device (DA) capable of perceiving the movable containers (CMj) within an analysis zone (ZA), and of determining the current position of at least one selected movable container (CMj) present within its analysis zone (ZA) when the latter generates, on command, a selected light signal by means of a light source (SL) that it includes, and - a control device (DP) capable of triggering the transmission of the command and determining each control command for the selected movable container (CMj), based on its determined current position, in order to remotely control its movement. Figure 1

Description

Title of the invention: RECOGNITION OF MOVABLE MOBILE CONTAINERS IN A SPACE Technical field of the invention

[0001] The invention relates to the recognition of mobile containers that can move in a space. State of the art

[0002] In certain fields, such as loading / unloading or industry, recognition systems are used to recognize mobile containers (or “containers” in English) in order to move them in a space.

[0003] Some of these recognition systems include:

[0004] - an analysis device capable of detecting mobile containers in an area analysis, constituting at least part of the space in which these mobile containers can move, and

[0005] - a control device capable of generating each control command for remotely control the movement of each mobile container.

[0006] Such recognition systems are used in particular in certain installations comprising a space where mobile containers must be moved automatically, or in certain delivery vehicles comprising a loading space suitable for receiving mobile containers that can be loaded / unloaded (possibly for so-called "last mile" deliveries).

[0007] This type of recognition system is not entirely satisfactory because, in practice, the analysis device is unable to perfectly differentiate between the various moving containers present in its analysis area. In fact, it can perceive shapes but cannot accurately discriminate (or differentiate, identify, or locate) the moving containers, particularly because the signals they transmit via waves have comparable levels. This causes movement errors that slow down, or even prevent, the completion of the task to be performed (such as loading into a vehicle or specific movements in potentially different areas of a space). This problem is particularly exacerbated when a specific order must be followed. Furthermore, the lower the light intensity in the analysis area, the more difficult discrimination (or differentiation) becomes.

[0008] The invention therefore aims in particular to improve the situation. Presentation of the invention

[0009] In particular, it proposes for this purpose a recognition system, on the one hand, intended to recognize mobile containers that can be moved within a space by means of pilot commands transmitted via radio waves, and, on the other hand, comprising:

[0010] - an analysis device capable of detecting mobile containers in an area of analysis, constituting at least a part of this space, and

[0011] - a control device capable of generating each control command for remotely control the movement of each mobile container.

[0012] This recognition system is characterized by the fact that:

[0013] - its analysis device is capable of determining a current position of at least one a mobile container selected and present within its analysis zone when the latter generates, on command, a selected light signal by means of a light source that it includes, and

[0014] - its control device is designed to trigger the transmission of the order and to de complete each piloting command of the chosen mobile container, according to the current determined position of the latter.

[0015] Thanks to the certain knowledge of the respective positions of the mobile containers chosen in the analysis area, it is now possible to remotely control precisely the movements of each mobile container chosen, with certainty that there will be no confusion between these mobile containers.

[0016] The recognition system according to the invention may include other features which may be taken separately or in combination, and in particular:

[0017] - in a first embodiment, its control device may be specific to generate for each chosen mobile container a dedicated and specific generation command to trigger, once received by the latter, the generation of the chosen light signal by its light source;

[0018] - in this first embodiment, each generation command dedicated to a The chosen mobile container may include information representative of the light signal chosen for that chosen mobile container;

[0019] - in a second embodiment, its control device may be specific to generate for at least two chosen mobile containers a common generation command specific to trigger, once received by them, the generation by their respective light sources of chosen light signals different from each other;

[0020] - in the presence of the last sub-option or in the second embodiment, the The chosen light signals may have different frequencies and / or different durations and / or different colours and / or different durations of intermittency;

[0021] - its analysis device can be adapted to associate with each generated light signal by a chosen mobile container an identifier, previously assigned to the latter by its control device, and its current position determined;

[0022] - its analysis device may include at least one camera suitable for acquiring successive digital images in the analysis area, and a computer specifically designed to analyze these successively acquired digital images to perceive the moving containers.

[0023] The invention also proposes an installation comprising, on the one hand, a space in which mobile containers can move by means of piloting commands transmitted by means of waves, and, on the other hand, a recognition system of the type of that presented above.

[0024] The invention also proposes a motorized device comprising, on the one hand, a loading space capable of accommodating at least one mobile container movable in a space by means of piloting commands transmitted by means of waves, and, on the other hand, a recognition system of the type of that presented above.

[0025] For example, this motorized device can be chosen from a utility vehicle, a truck, and an autonomous transport device. Brief description of the figures

[0026] Other features and advantages of the invention will become apparent from an examination of the detailed description below, and the accompanying drawings, in which:

[0027] [Fig. 1] schematically illustrates, in a perspective view, an example of a delivery vehicle comprising an example embodiment of a recognition system according to the invention, and positioned near two mobile containers present in a space and to be loaded, and

[0028] [Fig.2] schematically illustrates, in a rear perspective view, the vehicle delivery of the [Fig.1], during the loading of a selected mobile container. Detailed description of the invention

[0029] The invention aims in particular to provide a SYR recognition system intended to recognize CMj mobile containers (or containers in English) in order to move them in an automated and reliable way in an ED space.

[0030] In what follows, it is considered, by way of non-limiting example, that the SYR recognition system is intended to equip a vehicle V comprising a cargo space EC suitable for accommodating at least one mobile container CMj. However, the invention is not limited to this application. Indeed, a SYR recognition system according to the invention can be installed in any location comprising a space in which mobile containers CMj can move. Thus, the SYR recognition system can, in particular, equip a facility, possibly an industrial one or a warehouse, comprising at least one such covered or uncovered (open-air) space, or a covered or uncovered (open-air) parking lot, for example.

[0031] Furthermore, in what follows, by way of non-limiting example, vehicle V is considered to be of the utility type. For example, it is a van, such as illustrated, but not limited to, Figures 1 and 2. However, vehicle V can be of another type as long as it is a land vehicle and includes at least one cargo space capable of accommodating at least one mobile container. Thus, it could also, and in particular, be a van, a utility truck, a truck (including one with a trailer), or an autonomous transport vehicle (i.e., without a driver), such as an autonomous delivery shuttle.

[0032] Figures 1 and 2 schematically illustrate an example of an embodiment of a SYR recognition system according to the invention, here equipping a utility vehicle V of the van type. As illustrated, a SYR recognition system, according to the invention, comprises an analysis device DA and a control device DP, intended to cooperate with communicating mobile containers CMj equipped with a light source SL.

[0033] In the example illustrated, but not limited to, Figures 1 and 2, the vehicle V includes a cargo space EC designed to accommodate at least one mobile container CMj. In fact, in this example, the cargo space EC can accommodate two rows of three mobile containers CMj (i.e., j = 1 to 6) (see [Fig. 2]). However, the cargo space EC of the vehicle V can accommodate any number of mobile containers CMj, provided that this number is greater than or equal to one.

[0034] Each mobile container CMj is movable by means of control commands transmitted wirelessly, here by the vehicle V (but they could originate from an installation (or infrastructure)). To this end, and as illustrated in [Fig. 1], the vehicle V may include a communication module MC capable of exchanging messages wirelessly with a communication module (not shown) equipping each mobile container CMj. It should be noted that this exchange can take place via any type of wireless transmission, and in particular via WiFi or Bluetooth®.

[0035] For example, and as illustrated non-limitingly in Figures 1 and 2, each mobile container CMj may include at least two motorized wheels RM which are suitable for being driven in rotation remotely by means of pilot controls, here from the vehicle V. Furthermore, each mobile container CMj may include at least one steerable, free-roaming or motorized wheel (and in this case it can be steered remotely by means of a pilot control, here from the vehicle V).

[0036] As indicated above, each mobile container CMj also includes a light source SL which is capable of generating a chosen light signal, observable by the analysis device DA, for example in the event of receiving a generation command, here from the vehicle V (but which can also come from an installation (or infrastructure)).

[0037] The DA analysis device is arranged so as to perceive the mobile containers CMj present in an analysis zone ZA which constitutes at least part of a space ED in which mobile containers CMj are placed (temporarily immobile) and can move. In addition, the analysis device DA is arranged so as to determine the current position of at least one chosen mobile container CMj present in this analysis zone ZA when the latter (CMj) generates, on command, a chosen light signal by means of its light source SL.

[0038] It will be understood that the light signal generated by a selected mobile container CMj is easily observable in the analysis zone ZA, and therefore allows the analysis device DA to accurately determine the position of this selected mobile container CMj within the analysis zone ZA, and consequently, in this case, relative to the vehicle V (or the entrance to its cargo space EC). Each selected mobile container CMj can thus be accurately discriminated (or differentiated, identified, or located) when it is within a group of mobile containers CMj, including when the light intensity is high or low in the analysis zone ZA.

[0039] The DP control device is arranged to trigger the transmission of the selected light signal generation command for at least one selected mobile container CMj and to determine and generate each control command for this selected mobile container CMj, based on its current determined position (CMj), in order to remotely control its movement. It will be understood that once generated, each command and each control command is then transmitted to the mobile containers CMj, here via the communication module MC of vehicle V.

[0040] Thanks to this discrimination (or differentiation) of the selected CMj mobile containers present in the analysis area ZA, it is now possible to precisely control the movements of each selected CMj mobile container remotely, without any risk of confusion between CMj mobile containers. This makes it possible to optimize the movements of each selected CMj mobile container in the ED space, for example here to load at least one selected CMj mobile container in the EC loading space, including when these movements must be carried out in a chosen (possibly predefined) order.

[0041] It should be noted that in the illustrated example the DP control device is installed on the external face of the upper wall of the vehicle V, in order to make it visible. However, it is preferably installed inside the vehicle V, for example in its cargo space EC, in order to avoid damage to it.

[0042] It should also be noted that at least two embodiments of the SYR recognition system can be envisaged.

[0043] In a first embodiment, the DP control device can be arranged so as to generate, for each selected mobile container CMj, a dedicated generation command specific to it, which, once received by the container (CMj), triggers the generation of the chosen light signal by its light source SL. In other In terms of terminology, if there are N selected CMj mobile containers to be moved, the DP control device generates, preferably sequentially, N generation commands specifically dedicated to each of these N selected CMj mobile containers. Thus, the N selected CMj mobile containers will successively generate their chosen light signals, which facilitates their discrimination by the DA analysis device since, at any given moment, only one of them, known because it received the last dedicated generation command, generates a chosen light signal.

[0044] For example, in this first embodiment, each generation command dedicated to a chosen CMj mobile container can include information that is representative of the light signal chosen for that chosen CMj mobile container. This information can be an alphanumeric code defining or representing a chosen light signal, for example.

[0045] In a second embodiment, the DP control device can be arranged to generate, for at least two selected mobile containers CMj, a common generation command that, once received by these containers (CMj), triggers the generation by their respective light sources SL of selected and distinct light signals. This makes it possible to differentiate light signals that are generated at approximately the same time.

[0046] It will be understood that in this case the DA analysis device is arranged so as to determine the current respective positions of the selected CMj moving containers based on the chosen and different light signals generated by their respective SL light sources and observed. In other words, the N selected CMj moving containers are discriminated (or differentiated) by the N chosen and different light signals that they respectively generate upon receiving the common generation command.

[0047] For example, in the first or second embodiment, the chosen light signals may have different frequencies and / or different durations and / or different colors and / or different durations of intermittent flashing (these can then be referred to as different "light patterns"). This requires that each chosen mobile container CMj be able to vary the operation of its light source SL according to the generation command (dedicated or common) received.

[0048] However, it is also possible to consider that each chosen mobile container CMj has a light source SL that can only generate a single chosen (and predefined) light signal. In this case, the generation command does not need to include the aforementioned information, but the analysis device DA must then store a lookup table establishing a correspondence between definitions or identifiers of light signals and identifiers of mobile containers CMj. This allows it to associate each observed light signal with the identifier of its mobile container. CMj chosen.

[0049] Also, for example, the light source SL of each chosen mobile container CMj may comprise at least one light-emitting diode (LED), and possibly several, installed at a chosen location on the mobile container CMj. This is illustrated, without limitation, in Figures 1 and 2. It should be noted that in this illustrated example, each LED of a light source SL is installed approximately at the center of the outer face of the upper wall of its mobile container CMj. However, it could be installed at other locations on the mobile container CMj, allowing easy observation of the generated light signal, regardless of the orientation of this mobile container CMj.It should also be noted that in the illustrated example, each LED of a light source SL is mounted protrudingly on the external face of the upper wall of its mobile container CMj, but it could be integrated into this upper wall to limit the risk of damage.

[0050] In an alternative embodiment not shown, the light source SL of each mobile container CMj may comprise at least two sets of at least one light-emitting diode (LED), installed at different locations on the mobile container CMj. For example, four sets of LED(s) could be installed at the four upper corners of each mobile container CMj, or two sets of LED(s) could be installed at two upper corners (for example, opposite each other on a diagonal) of each mobile container CMj.

[0051] Also, for example, the DA analysis device may include at least one CN camera suitable for acquiring successive digital images in the ZA analysis area (possibly in the form of a video), and a CA computer suitable for analyzing these successively acquired digital images to perceive the chosen CMj moving containers, in particular by means of the chosen light signals that they respectively generate.

[0052] Also, for example, and as illustrated, but not limited to, in Figures 1 and 2, the vehicle V may include a PV wall designed to serve as a passage interface between the loading area EC and the external loading / unloading zone for each mobile container CMj. It will be understood that each mobile container CMj can move along this PV wall (in accordance with the control commands received) to reach an external unloading zone or the loading area EC.

[0053] By way of illustration, the PV wall can be mounted for rotation on a rotation axis AR which is parallel to the longitudinal or transverse direction of the vehicle V and located near the entrance of the cargo space EC. In this case, the rotation of the PV wall can be motorized, but in an alternative it could be to be done manually (by the intervention of a person placed nearby). This arrangement allows the PV wall to move from a first upright position (in which it is placed opposite the door(s) of the vehicle V allowing access to its loading space EC) to a second folded position (illustrated on [Fig.1] and in which it can contact the external loading / unloading area).

[0054] It should be noted that in the example illustrated, but not limited to, in Figures 1 and 2, the AR rotation axis is parallel to the transverse direction of the vehicle V and located at the rear end of the vehicle's structure (V). However, in an alternative embodiment not shown, the AR rotation axis could be parallel to the longitudinal direction of the vehicle V and located on a lateral side (right or left) of the vehicle (V), where the lateral entrance to the cargo space EC is located in this case.

[0055] It should also be noted that the AR rotation axis can optionally be mounted in translation along the vertical direction, via a motorized mechanism, in order to be able to be moved vertically.

[0056] By way of illustration, in the presence of the invention, the movement of a selected mobile container CMj can proceed as follows. In a first step, communication is established with the selected mobile container CMj to be moved. In a second step, the generation of a selected light signal by the light source SL of this mobile container CMj is initiated. In a third step, the current position of the selected mobile container CMj is determined (which allows it to be distinguished from other mobile containers CMj). In a fourth step, the trajectory of the selected mobile container CMj is calculated (taking into account, if necessary, the presence of other mobile containers CMj). In a fifth step, control commands are transmitted to the selected mobile container CMj to move it, for example, to make it enter the cargo space EC of the vehicle V or to move it a few meters for another purpose.

Claims

Claims

1. Recognition system (SYR) for recognizing mobile containers (CMj) movable in a space by means of piloting commands transmitted by waves, said system (SYR) comprising i) an analysis device (DA) capable of perceiving said mobile containers (CMj) in an analysis zone (ZA), constituting at least a part of said space, and ii) a piloting device (DP) capable of generating each piloting command to remotely pilot the movement of each mobile container (CMj), characterized in that a) said analysis device (DA) is capable of determining a current position of at least one mobile container (CMj) chosen and present in said analysis zone (ZA) when the latter (CMj) generates on command a chosen light signal by means of a light source (SL) which it comprises,and b) said control device (DP) is capable of triggering the transmission of said order and of determining each control command of said chosen mobile container (CMj), as a function of said determined current position of the latter (CMj).,

2. System according to claim 1, characterized in that said control device (DP) is capable of generating for each chosen mobile container (CMj) a dedicated generation command and capable of triggering, once received by the latter (CMj), the generation of said light signal chosen by its light source (SL).

3. System according to claim 2, characterized in that each generation command dedicated to a chosen mobile container (CMj) comprises information representative of said light signal chosen for this chosen mobile container (CMj).

4. System according to claim 1, characterized in that said control device (DP) is capable of generating for at least two chosen mobile containers (CMj) a common generation command and capable of triggering, once received by the latter (CMj), the generation by their respective light sources (SL) of chosen light signals different from each other.

5. System according to claim 3 or 4, characterized in that said chosen light signals have different frequencies and / or different durations and / or different colors and / or intermittencies of different durations.

6. System according to one of claims 1 to 5, characterized in that said analysis device (DA) is capable of associating with each light signal generated by a chosen mobile container (CMj) an identifier, previously assigned to the latter (CMj) by said control device (DP), and its current position determined.

7. System according to one of claims 1 to 6, characterized in that said analysis device (DA) comprises at least one camera (CN) capable of acquiring successive digital images in said analysis zone (ZA) and a computer (CA) capable of analyzing said successively acquired digital images to perceive said mobile containers (CMj).

8. Installation comprising a space (ED) in which mobile containers (CMj) can move by means of pilot commands transmitted by waves, characterized in that it further comprises a recognition system (SYR) according to one of claims 1 to 7.

9. Motorized vehicle (V) comprising a loading space (EC) capable of accommodating at least one mobile container (CMj) movable in a space (ED) by means of pilot commands transmitted by waves, characterized in that it further comprises a recognition system (SYR) according to one of claims 1 to 7.

10. Motorized vehicle according to claim 9, characterized in that it is chosen from a utility vehicle, a truck, and an autonomous transport vehicle.

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