WO2022101527A1 - Véhicule de distribution autopropulsé - Google Patents

Véhicule de distribution autopropulsé Download PDF

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Publication number
WO2022101527A1
WO2022101527A1 PCT/ES2020/070711 ES2020070711W WO2022101527A1 WO 2022101527 A1 WO2022101527 A1 WO 2022101527A1 ES 2020070711 W ES2020070711 W ES 2020070711W WO 2022101527 A1 WO2022101527 A1 WO 2022101527A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
propulsion
wireless communication
navigation
steering
Prior art date
Application number
PCT/ES2020/070711
Other languages
English (en)
Spanish (es)
Inventor
Carlos Andrés BOLÍVAR MUÑOZ
Fidel SAVAL SARGAS
Pilar PASQUIN COMALRENA DE SOBREGRAU
Jose Valles Rovira
Original Assignee
GUELFI, Maria Leticia
Looper Mobility Inc
Looper Mobility Services S.L
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by GUELFI, Maria Leticia, Looper Mobility Inc, Looper Mobility Services S.L filed Critical GUELFI, Maria Leticia
Priority to PCT/ES2020/070711 priority Critical patent/WO2022101527A1/fr
Publication of WO2022101527A1 publication Critical patent/WO2022101527A1/fr

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means

Definitions

  • the present invention is directed to a self-propelled delivery vehicle, and more specifically to a delivery vehicle configured to move autonomously, manually or remotely controlled, and comprising propulsion and steering means, a load support, means of wireless communication, means of navigation and means of processing.
  • Bicycles are perhaps the most sustainable and environmentally friendly vehicle that exists, although for obvious reasons it is limited by the capabilities of the delivery person, who can only travel a certain distance carrying a given weight between rest periods.
  • the present invention proposes a solution to the above problems by means of a self-propelled vehicle as defined in the independent claim.
  • the invention provides a self-propelled delivery vehicle, comprising propulsion and steering means, a load carrier, wireless communication means configured to receive signals from a remote controller, navigation means comprising the least one camera, and processing means operatively connected to the propulsion and steering means, to the wireless communication means and to the navigation means; wherein the driving and steering means are configured to be controlled by the remote controller and by the processing means.
  • the delivery vehicle allows the transport of a wide variety of articles and even the transport of people autonomously or manually, depending on the transport needs; also advantageously, the vehicle can be used as part of a sharing service.
  • a self-propelled delivery vehicle is a vehicle with wheels designed to transport goods or people between two places and capable of moving by itself;
  • the vehicle is an electrically powered vehicle for home delivery of goods in an urban setting or at a relatively short distance from the point of dispatch.
  • the vehicle comprises elements that allow its operation both completely autonomously, remotely controlled by a remote controller or manually, selectively switching from one operating mode to another.
  • remote controller, or control station we must understand either a human operator operating a wireless transmitter, or a computer with a wireless transmitter, configured to manage and control one or more vehicles simultaneously.
  • the vehicle comprises processing means, preferably a computer, which, based on a series of signals coming from navigation means and wireless communication means, calculate at least the current position of the vehicle, the destination position and the route to be traveled on a public road to reach the destination safely and avoiding obstacles.
  • processing means preferably a computer, which, based on a series of signals coming from navigation means and wireless communication means, calculate at least the current position of the vehicle, the destination position and the route to be traveled on a public road to reach the destination safely and avoiding obstacles.
  • the processing means use at least signals from the navigation means and data from the remote controller received through the wireless communication means containing the instructions on the destination position. Additionally, the processing means receive signals from at least one camera that allows the processing means to locate obstacles, determine its position relative to the vehicle and issue the necessary control actions to the propulsion and steering means to avoid said obstacles.
  • the remote controller outputs control signals through the wireless communication means that the processing means receives; in turn, the processing means interpret the received instructions and issue control signals to the drive and steering means to carry out the instructions.
  • the remote controller receives information from the navigation means, in particular real-time images from the camera, through the wireless communication means.
  • the load support allows a plurality of accessories to be attached to the vehicle for transporting a load, preferably a platform with at least one box configured to transport goods; in one embodiment, the bracket is configured to support a personnel carrier seat or saddle.
  • the vehicle comprises at least one box configured to be mounted on the support.
  • the at least one box is configured to reversibly and selectively attach to the load carrier by conventional means, for example, by screw joints, snap hooks, magnetic hooks, or elastic bands, among others.
  • the box, drawer or receptacle is a rectangular prism-shaped container with a lid that allows access to the interior of the box, in inside which goods are transported.
  • the merchandise is prepared at the dispatch point, placing it in a box, which is mounted on the vehicle when the order is placed; furthermore, the at least one box can be replaced by another element for transporting cargo, for example an open basket or a seat for transporting people.
  • the vehicle comprises a plurality of seats, preferably two seats in tandem.
  • the vehicle comprises a plurality of boxes configured to be joined together.
  • the boxes comprise complementary joining means that allow two or more boxes to be reversibly joined to each other, which are then mounted on the vehicle support;
  • the joining means are, in one embodiment, a tongue-and-groove, a magnetic joint or a snap hook, among others; in another embodiment, the complementary binding means is a hel system.
  • the vehicle can transport a plurality of boxes of various sizes joined together and configured as modules, where only one of the boxes is joined to the support for the load.
  • the navigation means comprise a satellite positioning module.
  • the satellite positioning means provide the position of the vehicle in real time in order to achieve more precise navigation.
  • the navigation means comprise proximity sensors.
  • the proximity sensors are operatively connected to the processing means and advantageously allow the presence of nearby obstacles in the vehicle's path to be detected, and a collision to be avoided.
  • the proximity sensors are infrared transducers, photoelectric sensors, laser-based sensors, LIDAR sensors, or ultrasonic sensors, among others.
  • the navigation means comprise two proximity sensors at the front of the vehicle.
  • the two sensors allow a larger field of vision to be covered and a safer movement of the vehicle to be achieved.
  • the navigation means comprise a sensor of proximity to the rear of the vehicle.
  • the sensor at the rear of the vehicle makes it possible to avoid obstacles when the vehicle moves backwards.
  • the vehicle comprises a seat with a presence sensor.
  • the seat allows the transport of a passenger in the vehicle, and the presence sensor allows its presence to be detected, so that, if the option is enabled, the passenger is offered the deactivation of the autonomous operation and the activation of the manual operation.
  • the presence sensor is a pressure sensor operatively connected to the processing means.
  • the pressure sensor is configured to emit a signal when it detects the pressure exerted by a user on the seat; in another embodiment, the seat comprises proximity sensors in the armrests, configured to detect if there is an object nearby and how far away it is; additionally, the pressure sensor can act as a safety device, since it allows the movement of the vehicle to be blocked if it does not detect the presence of a user.
  • the vehicle comprises a manual control of the propulsion and steering means configured to be enabled when the presence sensor detects a presence on the seat.
  • the manual control means of the propulsion and steering means are preferably conventional control means, such as a handlebar for steering control, which replace the autonomous control of the processing means and the remote control of the controller.
  • the presence sensor makes it possible to switch to a manual operating mode by activating the manual control means.
  • the vehicle is enabled by scanning a two-dimensional barcode, or QR code. In another embodiment the vehicle is enabled by entering an alphanumeric code.
  • the navigation means comprise an accelerometer, a compass and a gyroscope.
  • the accelerometer, the compass or compass and the gyroscope are operatively connected to the processing means and, advantageously, they allow the navigation and movement of the vehicle to be improved, making the movement smoother and safer.
  • the wireless communication means comprise a 4G architecture mobile telephony module.
  • the 4G architecture mobile telephony module makes it possible to integrate a remote control of the vehicle.
  • the wireless communication means comprise a mobile telephony module of an architecture belonging to one of the following generations: a 2G architecture, a 3G architecture, a 5G architecture, or a later generation architecture.
  • the wireless communication means comprise a Bluetooth specification module.
  • the Bluetooth specification wireless communication module allows short-range communication to be established between the vehicle and a device with a complementary communication module, for example, a user's or operator's mobile telephone.
  • the wireless communication means comprise a Wi-Fi module.
  • the communication module makes it possible to establish short-range communication between the vehicle and a local computer network.
  • the Wi-Fi communication module allows you to determine the position of the vehicle, establish communication with the vehicle if other communication channels fail, or establish communication between vehicles.
  • the wireless communication means comprise near field radio frequency (RFID) communication means.
  • RFID communication means allow very short-range communication to be established between the vehicle and a device with a complementary communication module, for example, a user's or operator's mobile telephone or a user card; in this case, the card is used to identify each user and allow access to services, for example to access the contents of the box.
  • the propulsion and steering means comprise an electric motor and at least one electric accumulator.
  • the electric motor allows the vehicle to move silently and without polluting emissions; in addition, the electric accumulator, preferably a lithium ion battery, can be recharged when it is not in operation by connecting it to the electrical network.
  • the propulsion and steering means comprise a vehicle steering actuator.
  • the steering actuator comprises a rotary encoder, or encoder, and a belt drive to modify the orientation of the wheel(s) and thus change the direction of the vehicle.
  • it also allows you to establish the exact angle formed by the wheels with respect to the longitudinal axis of the vehicle.
  • the vehicle also comprises a signaling beacon with a light source.
  • the beacon is configured as a polycarbonate tube arranged in a rear portion of the vehicle, and comprising a light indicator, for example an LED lamp that emits intermittent flashes.
  • the flashes make it possible to announce the presence of the vehicle to other road users, avoiding accidents.
  • the vehicle further comprises a communication interface, configured to establish bidirectional communication.
  • the communication interface comprises at least one microphone configured to record verbal messages from a user, a loudspeaker configured to broadcast pre-recorded or live verbal messages, and a camera focused on the user.
  • the vehicle further comprises an electronic payment interface, configured to carry out financial transactions.
  • the electronic payment interface allows users to make a payment in the vehicle itself.
  • At least one box comprises an automatic door or lid.
  • automatic door or lid it should be understood a door or lid that comprises means for selectively opening and closing the box, preferably electrical means, and preferably connected to the processing means.
  • the opening or access to the box(es) can be remotely controlled.
  • FIG. 1 This figure shows an embodiment of the vehicle with a box for transporting goods mounted on the vehicle support.
  • FIG. 2 This figure shows an embodiment of the vehicle with a plurality of boxes for transporting goods joined together and mounted on the vehicle support.
  • FIG. 3 This figure shows an embodiment of the vehicle with a seat mounted on the vehicle support.
  • FIG. 1 shows an example of a preferred embodiment of the delivery vehicle (1), with a box (7) for transporting goods.
  • the vehicle (1) is a conventional four-wheeled mobility assistance vehicle with a low chassis and a handlebar for operating the steering axis; furthermore, in this embodiment the propulsion and steering means (2) comprise a direct current electric motor powered by one or more rechargeable lithium ion batteries, a backup battery, and a vehicle steering actuator comprising a rotary encoder and a belt drive attached to the steering shaft, both drive and steering being controlled by processing means (6), which in this embodiment is a computer.
  • the vehicle (1) further comprises a support (3) to firmly hold the load, or a container with the load, to the vehicle (1);
  • the support (3) is a platform attached to the vehicle chassis (1) by means of a tubular element, and which is attached to the load, in this case contained in a box (7) by means of a bolted joint, not shown in the figures.
  • the vehicle (1) comprises three modes of operation: autonomous, manual and controlled by a remote controller, which in this embodiment is a control station with a human operator.
  • the vehicle (1) comprises conventional manual controls that act on the propulsion means, while the steering is manually operated using the handlebars;
  • the vehicle (1) comprises wireless communication means (4), navigation means (5) with a satellite positioning module and processing means (6), which in the Figure 1 are shown arranged on the vehicle chassis (1).
  • the processing means (6) are arranged on the handlebar, near the drive and steering means (2), and/or on both.
  • the processing means (6) are connected by means of cables to the wireless communication means (4), to the navigation means (5) and to the propulsion and direction means (2), which it is responsible for controlling.
  • the wireless communication means (4) receive a series of instructions, including the destination point of the load, and are transmitted to the processing means (6), which calculate based on the starting point of the vehicle (1) the most convenient route.
  • the processing means (6) receive from the navigation means (5) information in real time on the position of the vehicle (1), as well as on the objects that are close to the vehicle (1), in order to avoid collisions; Any solid that can be found in the path of the vehicle (1) is considered as an object, including buildings, urban furniture, curbs, pedestrians, animals or other vehicles, among others.
  • the satellite positioning module in this embodiment a GPS module, provides real-time information on the coordinates in which the vehicle is located.
  • the navigation means (5) comprise a BNO055 inertial measurement unit that integrates a compass, an accelerometer and a gyroscope.
  • the camera is preferably arranged in the front part of the vehicle (1), and allows to obtain a continuous image of the immediate environment of the vehicle (1), in particular of the path that it is going to follow, and that the processing means (6) use to detect objects that may be potential obstacles.
  • the processing means (6) detect the presence of an object in the path of the vehicle (1), they send a signal to the propulsion and steering means (2) to change the direction or speed of the vehicle (1) and avoid a collision.
  • the embodiment shown also comprises proximity sensors (5.1) arranged at the front of the vehicle (1) and at the rear of the vehicle (1), and whose function is to detect solid bodies at a given distance from the vehicle (1);
  • the proximity sensors (5.1) fulfill a complementary function to that of the camera, since they allow immediate obstacles to be detected and a collision to be avoided.
  • the camera(s) and the proximity sensor(s) (5.1) are arranged in the same housing.
  • the vehicle (1) is in constant bidirectional communication with a control station, or remote controller, by means of wireless communication means (4), in particular by means of a mobile phone connection of 4G architecture. From the vehicle (1) signals are emitted in real time corresponding to the camera(s), coordinates corresponding to the position of the vehicle (1) and signals from the proximity sensors (5.1), so that the operator who is in the control station knows the situation of the vehicle at all times. For its part, the vehicle (1) receives control signals that are transmitted to the propulsion and steering means (2) issued by the operator once the relative position of the vehicle (1) with respect to possible obstacles has been assessed. In those situations in which it is possible due to its availability, the wireless communication means (4) will make use of a Wi-Fi module to establish communication.
  • the processing means (6) also receive signals from the propulsion and direction means (2) referring to the state of charge of the batteries, expected autonomy or error signals in the event of a fault; Depending on the information received and the severity of the fault, the processing means (6) will proceed to try to resolve the fault, immobilize the vehicle (1), launch a distress signal, etc.
  • the transition from one mode of operation to another will depend on the instructions of a authorized operator with the necessary permissions to change mode; the mode change instruction can be transmitted by means of a command transmitted by the remote controller, by manual entry of an authorization code on a vehicle interface (1) or by means of a signal transmitted at a short distance thanks to a near field device (or RFID) which in this embodiment is arranged on the handlebar, a Bluetooth enabled device, etc. Additionally, a user in possession of an authorized device with RFID or Bluetooth capability, for example a user card, will be able to give instructions to the vehicle (1), for example regarding the destination point of the merchandise.
  • a near field device or RFID
  • the vehicle (1) comprises a signaling beacon (9) with a light source (9.1) arranged at the rear of the vehicle (1);
  • the signaling beacon (9) in this embodiment is a polycarbonate tube with an LED-type light source (9.1) that emits light flashes periodically or continuously, in order to alert other users, particularly pedestrians, of the presence of a moving vehicle.
  • the signaling beacon (9) includes, in some embodiments, a sound indicator.
  • FIG 2 shows an alternative embodiment of the delivery vehicle (1), in which the load can be stored in several boxes (7) of different dimensions; in Figure 2 only three are shown, but their number and dimensions will depend on the characteristics of the items to be transported.
  • the boxes (7) shown in this embodiment are joined together by means of pressure hooks, not shown in the figures, which allow the boxes (7) to be reversibly joined and separated. In this case, moreover, only the box (7) arranged further down is attached to the support (3).
  • This provides separate receptacles for items of different sizes, and can potentially be used to deliver different items to different recipients.
  • Another advantage is the possibility of establishing a modular system of interchangeable boxes (7) that can be combined with each other depending on the specific needs of each delivery route.
  • FIG 3 shows another embodiment in which a seat (8) is mounted on the support (3) instead of a box (7) for transporting merchandise.
  • the seat (8) comprises a presence sensor (8.1) operatively connected to the processing means (6), and which determines the presence of a passenger in the seat (8); in the embodiment shown, the seat (8) further comprises proximity sensors in the armrests of the seat (8), configured to detect if there is an object and how far away it is.
  • the processing means (6) adapt the driving mode of the vehicle (1) to increase passenger safety and comfort;
  • the signal from the presence sensor (8.1) can be used to switch to the manual operating mode, activating the manual control of the propulsion and steering means and allowing the occupant to manually steer the vehicle (1).

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)

Abstract

La présente invention concerne un véhicule de distribution autopropulsé, et plus particulièrement un véhicule de distribution conçu pour se déplacer de manière autonome, manuelle ou commandée à distance, et qui comprend des moyens de propulsion et de direction, un support pour la charge, des moyens de communication sans fil, des moyens de navigation et des moyens de traitement.
PCT/ES2020/070711 2020-11-16 2020-11-16 Véhicule de distribution autopropulsé WO2022101527A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/ES2020/070711 WO2022101527A1 (fr) 2020-11-16 2020-11-16 Véhicule de distribution autopropulsé

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/ES2020/070711 WO2022101527A1 (fr) 2020-11-16 2020-11-16 Véhicule de distribution autopropulsé

Publications (1)

Publication Number Publication Date
WO2022101527A1 true WO2022101527A1 (fr) 2022-05-19

Family

ID=74184663

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/ES2020/070711 WO2022101527A1 (fr) 2020-11-16 2020-11-16 Véhicule de distribution autopropulsé

Country Status (1)

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WO (1) WO2022101527A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150006005A1 (en) * 2013-07-01 2015-01-01 Steven Sounyoung Yu Autonomous Unmanned Road Vehicle for Making Deliveries
WO2016141091A1 (fr) * 2015-03-02 2016-09-09 Kevin O'donnell Bagage motorisé
WO2020118306A2 (fr) * 2018-12-07 2020-06-11 Postmates Inc. Robot de livraison
US20200269916A1 (en) * 2019-02-22 2020-08-27 Sway Motorsports Llc Three-wheeled tilting vehicle

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150006005A1 (en) * 2013-07-01 2015-01-01 Steven Sounyoung Yu Autonomous Unmanned Road Vehicle for Making Deliveries
WO2016141091A1 (fr) * 2015-03-02 2016-09-09 Kevin O'donnell Bagage motorisé
WO2020118306A2 (fr) * 2018-12-07 2020-06-11 Postmates Inc. Robot de livraison
US20200269916A1 (en) * 2019-02-22 2020-08-27 Sway Motorsports Llc Three-wheeled tilting vehicle

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