RECOGNITION OF MOBILE CONTAINERS MOVABLE IN A SPACE

Abstract

A system (SYR) makes it possible to recognize mobile containers (CMj) movable in a space by means of piloting commands transmitted by waves, and comprises: - an analysis device (DA) capable of perceiving the mobile containers (CMj) in an analysis zone (ZA), and of determining the current position of at least one mobile container (CMj) chosen and present in its analysis zone (ZA) when the latter generates on order a light signal chosen by means of a light source (SL) which it comprises, and - a piloting device (DP) capable of triggering the transmission of the order and of determining each piloting command of the mobile container (CMj) chosen, according to its determined current position, to remotely pilot its movement. Figure 1

Description

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

[0001] The invention relates to the recognition of mobile containers capable of moving 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 to move them in a space.

[0003] Some of these recognition systems include:

[0004] - an analysis device capable of perceiving 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 which 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 incapable of perfectly differentiating the different mobile containers present in its analysis zone. In fact, it can perceive the shapes but cannot discriminate (or differentiate or identify or even locate) the mobile containers precisely, in particular because the signals they transmit by waves have comparable levels, which causes movement errors which slow down, or even prevent, the completion of the task to be carried out (such as for example loading in a vehicle or particular movements in possibly different zones of a space). This problem is particularly increased when an order must be respected. Furthermore, the lower the light intensity in the analysis zone, the more difficult discrimination (or differentiation) is.

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

[0009] It proposes in particular for this purpose a recognition system, on the one hand, intended to recognize mobile containers movable in a space by means of pilot commands transmitted by waves, and, on the other hand, comprising:

[0010] - an analysis device capable of perceiving mobile containers in an area analysis, constituting at least 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 mobile container chosen and present in its analysis zone when the latter generates on order a light signal chosen by means of a light source which it includes, and

[0014] - its control device is capable of triggering the transmission of the order and of complete each control command of the chosen mobile container, based on 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 zone, it is now possible to remotely control precisely the movements of each mobile container chosen, being certain that there will be no confusion between these mobile containers.

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

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

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

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

[0020] - in the presence of the last sub-option or in the second embodiment, the selected light signals may have different frequencies and / or different durations and / or different colors and / or intermittencies of different durations;

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

[0022] - its analysis device may comprise at least one camera capable of acquiring successive digital images in the analysis area, and a computer capable of analyzing 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 pilot commands transmitted by waves, and, on the other hand, a recognition system of the type presented above.

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

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

[0026] Other characteristics and advantages of the invention will appear on examining the detailed description below, and the appended drawings, in which:

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

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

[0029] The invention aims in particular to propose a SYR recognition system intended to recognize mobile containers CMj in order to move them in an automated and reliable manner in an ED space.

[0030] In the following, it is considered, by way of non-limiting example, that the SYR recognition system is intended to equip a vehicle V comprising a loading space EC capable of accommodating at least one mobile container CMj. But 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 an installation, possibly industrial or a warehouse, and comprising at least one such covered or uncovered space (in the open air), or a covered or uncovered parking lot (in the open air), for example.

[0031] Furthermore, it is considered in the following, by way of non-limiting example, that the vehicle V is of the utility type. It is for example a van, such as illustrated non-limitingly in Figures 1 and 2. But the vehicle V may be of another type as long as it is terrestrial and includes at least one loading space suitable for accommodating at least one mobile container. Thus, it may also and in particular be a van, a utility truck, a truck (including a trailer), or an autonomous transport machine (i.e. without a driver), such as for example an autonomous delivery shuttle.

[0032] Figures 1 and 2 schematically illustrate an exemplary 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 and equipped with a light source SL.

[0033] In the example illustrated non-limitingly in Figures 1 and 2, the vehicle V comprises a loading space EC suitable for accommodating at least one mobile container CMj. In fact, in this non-limiting example the loading space EC can accommodate two rows of three mobile containers CMj (i.e. j = 1 to 6) (see [Fig.2]). But the loading 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 can be moved by means of pilot commands transmitted by radio waves, here by the vehicle V (but they could come from an installation (or infrastructure). For this purpose, and as illustrated in [Fig.l], the vehicle V can comprise a communication module MC capable of exchanging messages by radio waves with a communication module (not illustrated) equipping each mobile container CMj. It will be noted that this exchange can be done by any type of radio transmission, and in particular by WiFi or Bluetooth®.

[0035] For example, and as illustrated non-limitingly in Figures 1 and 2, each mobile container CMj may comprise at least two motorized wheels RM which are capable of being driven in rotation remotely by means of piloting commands, originating, here, from the vehicle V. Furthermore, each mobile container CMj may comprise at least one steerable wheel, idle or motorized (and in this case it may be steered remotely by means of a piloting command, originating (here) from the vehicle V).

[0036] As indicated above, each mobile container CMj also comprises 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 reception of a generation command, here originating from the vehicle V (but which may also originate from an installation (or infrastructure)).

[0037] The analysis device DA 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 to determine the current position of at least one mobile container CMj chosen and 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 chosen 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 chosen mobile container CMj in the analysis zone ZA, and consequently, here, relative to the vehicle V (or the entrance to its loading space EC). Each chosen mobile container CMj can therefore be discriminated (or differentiated or identified or even located) accurately 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 control device DP is arranged so as to trigger the transmission of the light signal generation order chosen for at least one chosen mobile container CMj and to determine and generate each control command for this chosen mobile container CMj, as a function of the current determined position of the latter (CMj), in order to remotely control its movement. It will be understood that once generated, each order and each control command are then transmitted to the mobile containers CMj, here by the communication module MC of the vehicle V.

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

[0041] It will be noted that in the example illustrated the control device DP is installed on the external face of the upper wall of the vehicle V, in order to materialize it. But it is preferably installed inside the vehicle V, for example in its loading space EC, in order to avoid damaging it.

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

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

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

[0045] In a second embodiment, the control device DP can be arranged so as to generate for at least two chosen mobile containers CMj a generation command which is common and capable of triggering, once received by the latter (CMj), the generation by their respective light sources SL of chosen light signals which are different from each other. This makes it possible to make light signals which are generated substantially at the same time differentiable.

[0046] It will be understood that in this case the analysis device DA is arranged so as to determine the respective current positions of the chosen mobile containers CMj as a function of the chosen and different light signals, generated by their respective light sources SL, and observed. In other words, the N chosen mobile containers CMj are discriminated (or differentiated) by the N chosen and different light signals that they generate respectively, upon receipt of 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 intermittencies of different durations (one can then speak of different “light patterns”). This requires that each chosen mobile container CMj be capable of varying the operation of its light source SL according to the generation command (dedicated or common) received.

[0048] But it is also possible to envisage that each chosen mobile container CMj has a light source SL which 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 correspondence table establishing a correspondence between definitions or identifiers of light signals and identifiers of mobile containers CMj. This allows it to associate with each observed light signal 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 (or LED), and possibly several, installed at a chosen location of the mobile container CMj. This is what is illustrated non-limitingly in Figures 1 and 2. It will be noted that in this illustrated example, each light-emitting diode of a light source SL is installed substantially in the center of the external face of the upper wall of its mobile container CMj. But it(they) could be installed at other locations of the mobile container CMj allowing easy observation of the light signal generated, whatever the orientation of this mobile container CMj.It will also be noted that in the illustrated example, each light-emitting diode of a light source SL is installed in a protruding manner on the external face of the upper wall of its mobile container CMj, but it could be integrated into this upper wall in order to limit the risks of damage.

[0050] In an alternative embodiment not illustrated, the light source SL of each mobile container CMj may comprise at least two sets of at least one light-emitting diode, installed at different selected locations of the mobile container CMj. For example, it is possible to envisage installing four sets of light-emitting diode(s) at the four upper corners of each mobile container CMj, or two sets of light-emitting diode(s) at two upper corners (for example opposite on a diagonal) of each mobile container CMj.

[0051] Also for example, the analysis device DA can comprise at least one camera CN capable of acquiring successive digital images in the analysis zone ZA (possibly in the form of a video), and a computer CA capable of analyzing these successively acquired digital images to perceive the chosen mobile containers CMj, in particular thanks to the chosen light signals that they generate respectively.

[0052] Also for example, and as illustrated non-limitingly in Figures 1 and 2, the vehicle V may comprise a wall PV which is suitable for serving as a passage interface between the loading space EC and the external loading / unloading zone for each mobile container CMj. It will be understood that each mobile container CMj can move on this wall PV (in accordance with the piloting commands received), to reach an external unloading zone or the loading space EC.

[0053] As an illustrative example, the wall PV can be rotatably mounted on an axis of rotation AR which is parallel to the longitudinal or transverse direction of the vehicle V and located in the vicinity of the entrance to the loading space EC. In this case, the rotation of the wall PV can be done in a motorized manner, but in a variant it could be do 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 providing access to its loading space EC) to a second folded position (illustrated in [Fig.l] and in which it can contact the external loading / unloading area).

[0054] It will be noted that in the example illustrated non-limitingly in Figures 1 and 2 the axis of rotation AR is parallel to the transverse direction of the vehicle V and placed at the rear end of the structure of the latter (V). But in an alternative embodiment not illustrated, the axis of rotation AR could be parallel to the longitudinal direction of the vehicle V and placed on a lateral side (right or left) of the latter (V), where the lateral entrance of the loading space EC is located in this case.

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

[0056] As an illustrative example, in the presence of the invention, the movement of a chosen mobile container CMj can take place as follows. In a first step, communication is established with the chosen mobile container CMj to be moved. In a second step, the generation of a chosen light signal by the light source SL of this mobile container CMj is ordered. In a third step, the current position of the chosen mobile container CMj is determined (which makes it possible to discriminate it from the other mobile containers CMj). In a fourth step, the trajectory of the chosen mobile container CMj is calculated (taking into account, if necessary, the presence of the other mobile containers CMj). In a fifth step, pilot commands are transmitted to the chosen mobile container CMj to move it, for example to make it enter the loading space EC of the vehicle V or to move it a few meters for another need.

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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