Electric-drive control system with inbuilt guidance and safety monitoring

Abstract

The invention relates to a control system (1) for operating at least one electric motor (22) for a self-guided vehicle, the system comprising: - at least one electronic control interface (3) each associated with an electric motor (22), at least one operational-safety processor (2) connected to at least one electronic control interface (3) in order to operate said at least one electric motor (22) on the basis of safety information originating from a safety scanner (5) and a guidance control processor (4) which is configured to process environment information originating from the safety scanner (5).

Description

ELECTRIC MOTOR CONTROL SYSTEM WITH INTEGRATED SAFETY AND NAVIGATION CONTROL technical field

[0001] This disclosure relates to an electric motor control system with integrated safety and navigation control adapted to drive a vehicle drive wheel.

[0002] This disclosure also relates to a self-contained powertrain assembly and an autonomous navigation vehicle equipped with such a powertrain control system. Previous technique

[0003] A load-carrying vehicle, such as a picking cart used in a warehouse or a parts transport cart between two workstations in a factory, can be equipped with an electric drive system, allowing the user to move the vehicle effortlessly or with minimal effort. However, it has been observed that, for example, in warehouses with long aisles, the use of such a nearly manual cart means the operator has to travel long distances, leading to fatigue and wasted time if the route is not optimized. Furthermore, the operator must have a thorough knowledge of the location of the stored items and the warehouse layout to avoid wasting time.

[0004] To improve logistics flow management, wire or laser guidance technology is used to direct the movement of motorized carts within the workspace, such as in a warehouse, thus eliminating the need for human intervention. This technology relies on external elements or markers placed along the cart's path, such as beacons, buried wires, or painted lines. Such guidance technology imposes a fixed trajectory and a specific infrastructure on the carts.

[0005] In order to easily adapt the vehicle's trajectory to changes in the workspace in which it moves, in recent years autonomous mobile robots (AMRs for Autonomous Mobile Robots) have appeared which move autonomously and freely in an environment such as storage warehouses without human intervention and without external elements thanks to geoguidance technology.

[0006] Geoguidance technology is based on mapping the environment in which the vehicle operates. It allows the vehicle to autonomously orient itself within its work environment and automatically calculate its route. To achieve this, the vehicle is typically equipped with a lidar system that acquires multiple images of the surroundings. These images are then sent to a central computer located remotely from the vehicle to generate a virtual reconstruction of the environment using an appropriate algorithm.

[0007] However, in factories and warehouses, there may be operators and other vehicles in motion. In such dynamic environments, it is therefore essential to be able to control the trajectory of the autonomous vehicle to ensure its proper functioning while guaranteeing the safety of the moving operators. Safety information acquired by the lidar system or other sensors is sent to a controller coupled to the drive system, which can cut power to the motors or engage the braking system to slow the vehicle when an obstacle is detected in a predefined area.

[0008] Currently, enriched environmental and safety information is processed by a set of separate modules. Thus, navigation and safety functions are performed by distinct and different components. In other words, an autonomous vehicle is equipped with a navigation system and a safety system to ensure its movement within its environment. This results in a large number of modules required to perform safety and navigation functions, forming a fragmented, relatively complex, and expensive architecture, poorly suited for full integration on a vehicle such as a light cargo carrier or a mobile robot.

[0009] This disclosure aims to address these drawbacks by proposing a motor control system that integrates and combines the safety control function and the navigation function into a single module, resulting in a smaller footprint and lower final cost. Summary

[0010] This disclosure improves the situation.

[0011] A control system for at least one electric motor for an autonomous navigation vehicle is proposed, said system comprising; - at least one electronic control interface, each associated with an electric motor, and at least one reliability processor connected to at least one electronic control interface to control said at least one motor electrical from security information from a security scanner and a navigation control processor configured to process environmental information from the security scanner.

[0012] According to one embodiment, at least one control interface comprises two electronic control interfaces, each associated with an electric motor, the safety processor being connected to the two electronic control interfaces to ensure the control of the two motors from the safety information transmitted by the scanner.

[0013] According to another embodiment, at least one control interface comprises two electronic control interfaces, each associated with an electric motor, and at least one reliability processor comprises two safety processors, each of the two processors being connected to an electronic control interface to ensure the control of the two motors from the safety information transmitted by the scanner.

[0014] The features described in the following paragraphs can optionally be implemented independently of each other or in combination with each other.

[0015] Safety processors are configured to determine if an obstacle is detected within the field of view of the safety scanner based on received safety information and to perform at least one of the following safety functions: - a “STO” safety function corresponding to an electrical disconnection of the motor to eliminate torque; - a “SDI” safety function corresponding to a prohibition of one of the two directions of rotation of the motor; - a “SLS” safety function corresponding to a limitation of the motor's rotation to a maximum speed; - a “SS1” safety function corresponding to engine braking by controlled deceleration; - a safety function “SBC” corresponding to a stop of the engine by engaging a brake.

[0016] The navigation control processor is configured to provide vehicle navigation control by performing the following navigation functions: - calculation of at least one trajectory to be followed by the vehicle in an environment based on information transmitted by a central control unit; - reading of enriched environmental information acquired by said at least one security scanner during the movement of the vehicle in the environment; - reconstruction of the environment and determination of the vehicle's position in said environment; - prediction of at least one path to be followed by the vehicle and adaptation of the trajectory to the environment.

[0017] In another respect, a self-contained motorization system for autonomous navigation vehicles is proposed, comprising: - at least one electric motor generating a rotational movement; - a power source configured to store and release the energy required for the autonomous operation of said assembly; - a control system for said at least one electric motor as defined above.

[0018] According to one embodiment of the invention, the assembly comprises a chassis and an external profiled shell forming an external housing, the chassis comprising a receiving space for receiving and holding in position the electric motor, a first internal profiled shell and a second internal profiled shell assembled together to form a sealed internal housing in which the power source and the control system are received, said housing also being received in the receiving space of the external housing.

[0019] Preferably, the second internal profiled shell forms a user interface 24 comprising communication connections, a charging connection and a means for indicating the state of charge of the energy source, said user interface being positioned opposite an opening made in the external profiled shell so that the charging connection and the indication means are accessible and visible from outside the housing.

[0020] According to one embodiment, the energy source includes at least one Ni-MH or Li-ion type battery.

[0021] Preferably, the electric motor is coupled to a drive wheel via an epicyclic reducer.

[0022] According to another aspect, it is proposed an autonomous navigation vehicle comprising at least one drive wheel driven by an autonomous motorization assembly as defined above, and at least one safety scanner configured to acquire safety information and enriched information about the environment in which said vehicle is moving.

[0023] According to one embodiment, said security scanner is connected to the security control processor and the navigation control processor. respectively via a safety information communication bus and an enriched environmental information communication bus.

[0024] Preferably, said at least one security scanner is a lidar system. Brief description of the drawings

[0025] Other features, details, and advantages will become apparent upon reading the detailed description below and analyzing the attached drawings, on which: Fig. 1

[0026] [Fig. 1] Figure 1 shows a motor control system according to one embodiment. Fig. 2

[0027] [Fig. 2] Figure 2 shows a motor control system according to a second embodiment. Fig. 3

[0028] [Fig. 3] Figure 3 shows a motor control system according to a third embodiment. Fig. 4

[0029] [Fig. 4] Figure 4 shows an exploded view of a self-contained motorization assembly including a motorization control system of Figure 1. Fig. 5

[0030] [Fig. 5] Figure 5 schematically represents a top view of an automatically guided handling vehicle equipped with a drive wheel driven by a motorization control system of Figure 1. Fig. 6

[0031] [Fig. 6] Figure 6 schematically represents a perspective view of an autonomous navigation handling vehicle comprising two motors driven by a motor control system according to one embodiment. Description of the implementation methods

[0032] In the different figures, the same references designate identical or similar elements.

[0033] For the purposes of this disclosure, the environment means, for example, a warehouse, a production plant, or any other industrial space in which a light vehicle travels.

[0034] For the purposes of this disclosure, the light vehicle that moves autonomously in an environment could, for example, be a handling trolley or any other rolling handling equipment or a mobile robot.

[0035] Within the scope of the present invention, a safety scanner is an environmental perception device commonly used in autonomous mobile robotics. It provides, on the one hand, functional safety information regarding the presence of obstacles in pre-configured risk zones, and on the other hand, it transmits distance information, also known as enriched environmental information, about the surrounding elements. The safety information is typically used to prevent dangerous actions or to activate safety devices. The non-safety distance information can be used to reconstruct a map of the environment and calculate a position relative to it—information useful for the navigation of autonomous mobile devices.

[0036] For the purposes of this disclosure, “enriched environmental information” refers to a set of coordinates of points detected within the field of view of one or more security scanners capable of capturing images of the device's surroundings. This information is used to feed and enhance the vehicle's navigation algorithms to reconstruct the environment in which the vehicle is moving and the position of the acquisition device within that reconstructed environment.

[0037] With reference to Figure 1, a motor control system 1 for a lightweight autonomous navigation vehicle conforming to one embodiment is shown.

[0038] The control system 1 is designed to control the vehicle's engines based on safety information and enriched environmental information transmitted by a safety scanner 5.

[0039] According to the invention, the motor control system 1 is integrated directly into a self-contained motor assembly 20 to drive, for example, one or two drive wheels. In the example shown in Figure 1, the assembly 20 is configured to drive a drive wheel 201.

[0040] The autonomous assembly 20 will be described in more detail below with reference to the figure 4. It may include an electric motor 22 configured to generate a movement of rotation, an energy source 21 which stores and releases the energy necessary for the autonomous operation of the autonomous system.

[0041] The Safety Scanner 5 is capable of capturing information about the environment in which the light vehicle is traveling. The Safety Scanner may include, but is not limited to, a two-dimensional camera, a three-dimensional camera, a lidar system, or any other equivalent system capable of acquiring multiple images of the environment. The data from the Scanner 5 can be of two distinct types. The data can include safety information, such as a detected presence in a predefined area indicating a safety risk, and enriched environmental information that includes all physical points detected within the Scanner 5's detection field.

[0042] The drive control system 1 includes an electronic control interface 3 configured to control the operation of the engine 22, and a functional safety processor 2 connected to the electronic control interface 3 to control the engine 22 based on safety information from the scanner 5. The drive control system 1 also includes a navigation control processor 4 configured to control the vehicle's navigation based on enriched environmental information from the scanner 5. The processed information allows the drive control system 1 to have a dual function: to control the engine's operation based on safety information and to guide the vehicle by reconstructing the environment in which the vehicle is moving.

[0043] Safety information and enhanced environmental data are processed by two separate processors: the engine's safety processor 2 and the navigation control processor 4, both integrated into a single physical unit, the engine control system 1. Advantageously, the safety processor 2 and the navigation control processor 4 can thus be integrated into a single component. Unlike existing solutions that use different and separate components to perform navigation and safety functions, these functions are performed by a single component. Combining the safety control processor and the safety processor within the engine system allows a single system to process both environmental and safety information from the sensors.This integration makes the motorization system more generic and directly compatible with security scanners.

[0044] The functional safety processor 2 is coupled to the motor 22 via the electronic control interface 3. The functional safety processor 2 drives the electronic control interface 3 to control the motor 22 and incorporates at least one of the following safety functions: - the electrical disconnection of motor 22 to eliminate torque, corresponding to the STO safety function (acronym for the English expression "Safe Torque Off") - the prohibition of one of the two directions of rotation if an obstacle is present on one side of the vehicle, corresponding to the safety function known as SDI (acronym for the English expression "Safe Direction"), - limiting the rotation to a maximum speed, thus enabling a switch to safe limited speed mode when an obstacle is detected in the field of vision, corresponding to the so-called SLS safety function (acronym for the English expression "Safety Limited Speed"). - engine braking by controlled deceleration if an imminent obstacle is detected, corresponding to the safety function known as SS1 (acronym for the English expression "Safe Stop"), - stopping the engine by engaging a brake, corresponding to the safety function known as SBC (acronym for the English expression "Safe Brake Control").

[0045] The dependability processor 2 is connected to the safety scanner 5 via a safety information transmission link 7 or via a communication bus 7. The safety functions can be activated independently according to the safety information transmitted by the scanner 5 to the dependability processor 2. The communication bus can be, for example, a dedicated safety communication network such as CANopen Safety, PROFIsafe or FSoE (acronym for the English term "Fail Safe over Ethercat").

[0046] In one embodiment, when the SLS safety function is activated and the motor control is in speed-limited mode, the safety control processor transmits information to the scanner 5, instructing it to reduce the distances of the detection fields. In another embodiment, when the rotational speed of the two drive wheels differs, the safety control processor transmits information to the scanner 5, instructing it to adapt the position of the detection fields to the orientation imposed by the speed differential of the drive wheels.

[0047] The navigation control processor 4 is configured to control vehicle navigation from enriched environmental information from the scanner s.

[0048] The navigation control processor 4 is configured to perform vehicle navigation control using enriched environmental information from the data acquisition device 5: - calculation of at least one trajectory to be followed by the vehicle in the environment; - reconstruction of the environment; - determination of the vehicle's position in said reconstructed environment; - prediction of at least one path to be followed by the vehicle and adaptation of the trajectory to the environment.

[0049] The navigation control processor 4 is also configured to communicate with a fixed central unit 71 positioned at a distance from the vehicle, as illustrated in Figure 6. The navigation control processor 4 receives the mission commands to be executed by the vehicle and also a database representing the coordinates of points in the environment in which the vehicle must move. The navigation control processor 4 processes the mission commands to be executed by the vehicle and determines a trajectory to be followed within the environment.

[0050] To generate an environmental reconstruction from enriched environmental information, such as data from multiple image captures, several state-of-the-art algorithms can be used, depending on the sensor used in the environmental perception system. For example, if the environmental perception sensor is a camera or a lidar, SLAM-type algorithms can be used to obtain a two- or three-dimensional reconstruction of the environment. With a lidar or laser sensor, the various point reconstructions can be combined into a single global reconstruction using an ICP (Iterative Closest Point) approach.

[0051] The navigation control processor 4 and the scanner 5 are linked by a data transmission link 6, thus enabling the navigation control processor 4 to access the data measured by the scanner 5 but also to transmit data to the scanner s.

[0052] The navigation control processor 4 and the safety processor 2 are connected together via a link 8 which can be a non-safe communication bus such as serial bus, CANopen, PROFInet or EtherCAT for example.

[0053] In known solutions, security information and enriched environmental information are processed by different components. Security information is typically sent to a security logic that is capable of shutting down The system manages the power supply to the motors or engages the engine braking system while enriched environmental information is processed by a computing unit external to the vehicle. In an autonomously navigating vehicle, a large number of components are required to perform all safety and navigation functions. Thanks to the specific unitary architecture of the motor control system of the present invention, it is possible to combine safety control and navigation functions in a single, compact physical unit, thus giving the motor system of this disclosure a modular character.

[0054] The drive control system described in this disclosure is particularly well-suited for integration into a self-contained drive unit to power a drive wheel of a light vehicle. One of the main advantages of this system is its simplicity of architecture and implementation, while ensuring automatic guidance and safety in a dynamic environment.

[0055] With reference to Figure 2, a motor control system 10 according to a second embodiment is illustrated.

[0056] The motor control system in Figure 2 allows for the control of two electric motors 42.1, 42.2 of a self-contained motor unit 40 to drive the drive wheels 301, 302 of a vehicle 300. The unit 40 also includes a rechargeable power source 41 to supply the motors.

[0057] The control system 10 includes a first electronic control interface 13.1 coupled to a first motor 42.1 and a second electronic control interface 13.2 coupled to a second motor 42.2, a safety processor 12 connected to the two control interfaces 13.1, 13.2 to ensure the control of the two motors 42.1, 42.2 from the safety information from the safety scanner 15.

[0058] The piloting system also includes a navigation control processor 14 configured to process enriched environmental information from the scanner 15.

[0059] The functional safety processor 12 is connected to the safety scanner 15 via a safety information transmission link 17 or via a communication bus 17. The safety functions can be activated according to the safety information transmitted by the scanner 15 to the functional safety processor 12. The communication bus can be, for example, a communication network dedicated to safety such as CANopen Safety, PROFIsafe or FSoE (acronym for the English term "Fail Safe over Ethercat").

[0060] The navigation control processor 14 and the scanner 15 are connected together by a data transmission link 16 such as Ethernet or USB, thus enabling the navigation control processor 14 to access the data measured by the scanner 15 but also to transmit data to the scanner 15.

[0061] The navigation control processor 14 and the safety processor 12 are connected together via a link 18 which can be a non-safe communication bus such as serial bus, CANopen, PROFInet or EtherCAT for example.

[0062] Advantageously, the control system architecture is particularly flexible. Thus, the number of electronic control interfaces can be adjusted according to the number of motors to be controlled.

[0063] With reference to Figure 3, a motor control system 100 according to a third embodiment is illustrated.

[0064] The motor control system 100 of Figure 3 also enables the control of two electric motors 52.1, 52.2 of a self-contained motor unit 50 to drive the two drive wheels 401, 402 of a vehicle 400. The unit 50 further includes a rechargeable power source 51 to supply the motors.

[0065] The control system 100 includes a first electronic control interface 103.1 coupled to a first motor 52.1 and a second electronic control interface 103.2 coupled to a second motor 52.2, a first functional safety processor 102.1 connected to the first control interface 103.1, and a second functional safety processor 103.2 connected to the second control interface 103.2 to respectively ensure the control of the two motors 52.1, 52.2 from the safety information coming from the safety scanner 105.

[0066] The piloting system also includes a navigation control processor 104 configured to process enriched environmental information from the scanner 105.

[0067] In this configuration, the scanner 105 is connected only to the first dependability processor 102.1 and the navigation control processor 104 of the system 100 respectively via a safety information communication bus 107 and an enriched environmental information communication bus 106. The first dependability processor 102.1 is connected to the second dependability processor 102.2 via a safety information communication bus 109 in order to transmit the safety information from the scanner 105.

[0068] The navigation control processor 104 and the first safety processor 102.1 are connected together via a link 108 which can be a non-safe communication bus such as serial bus, CANopen, PROFInet or EtherCAT for example.

[0069] The motor control system of the present invention is in the form of a control board which can be easily integrated with the motor or motors and a rechargeable power source in a housing to form a self-contained motor control unit.

[0070] With reference to Figure 4, an exploded view illustrates an example of the realization of a self-contained motorization assembly 20 integrating the motorization control system which can be the control system of one of Figures 1 to 3.

[0071] The assembly 20 includes an external housing which supports and secures all the elements to drive and control the drive wheel 201, namely one or more electric motors 22 which can generate a rotational movement, a power source 21, the control system of the electric motor 1 which is in the form of an electronic board and an interface for managing the elements 24.

[0072] The energy source 21 comprises rechargeable batteries capable of storing and releasing the energy required for the autonomous operation of the self-contained motor assembly 20. In one embodiment, the batteries comprise a Ni-MH battery. In another embodiment, the batteries comprise a Li-ion battery.

[0073] The external housing consists of a chassis 23 and an outer shell 25, which are assembled and fixed together. The chassis 23 includes a receiving space 28 for receiving an internal housing formed by a first internal profiled shell 27 and a second internal profiled shell 24, which fits onto the first shell 27. The first profiled shell 27 is dimensioned and configured to fit into the receiving space 28 of the chassis 23. The chassis 23 also supports the drive wheel 201 and includes a housing delimited by the internal casing and adapted to receive the electric motor 22. Thus, the wall of the inner shell 27 forms an interface between the power source 21 and the motor 22. The inner shell 27 also includes a receiving space 29 for receiving the power source 21 and the control system 1.

[0074] The first casing 27 can be made of electrically insulating material and has enhanced mechanical properties that ensure the stability of the components and resistance to mechanical stresses such as vibrations and / or shocks during operation. The casing material, for example, is a composite material. It can be made of fiberglass-reinforced plastic.

[0075] Preferably, the two internal profiled shells 27 and 24, which house the electronic system 1, can be fitted together to form a watertight enclosure. Furthermore, sealing gaskets are positioned between the two shells and the components of the enclosure.

[0076] The electric motor 22 has a motor shaft 22A. The motor control system 1, which is in the form of an electronic board, includes a hole 9 into which the motor shaft is received. A flange 22F is located on one face of a motor housing, at one axial end of the motor, to provide an interface between the rear end of the motor 22 and the electronic board 1. The electronic system 1 includes the power electronic interface 3, the dependability processor 2, and the navigation control processor 4 for controlling the electric motor 22 based on safety information and enhanced environmental information from the scanner 5. The electronic system 1 also includes a communication interface, for example, a Wi-Fi connection for transmitting data to a fixed central unit 71, as illustrated in Figure 6.The electronic system 1 can be composed of several electronic boards assembled together.

[0077] According to one embodiment, the second internal profiled shell 24 is equipped with a housing management interface and may include, for example, communication interface connections, a charging connection, and a means for indicating the operating and charging status of the power source. The management interface 24 is positioned opposite an opening 26 in the external profiled shell 25 so that the communication connections, the charging connection, and the indication means are accessible and visible from outside the housing.

[0078] The wheel 201 is coupled to the electric motor 22 of the self-contained drive unit 20 via an epicyclic reduction gear (not shown in Figure 4). The wheel 201 can be a non-directional drive wheel that moves the vehicle forward or backward along a principal direction of travel linked to the vehicle, the direction of travel being perpendicular to the axis of rotation of the non-directional wheels. The wheel can also be a directional drive wheel. The wheel can be steered by pivoting around a vertical pivot axis, in order to guide the vehicle along its path.

[0079] The architecture of the self-contained motor assembly of the present invention is particularly advantageous. Indeed, it allows all the elements of the motor assembly to be assembled in a single housing, forming a single modular functional unit that will be coupled to the wheel. Furthermore, the elements of the self-contained assembly of The motors are contained within a robust and completely sealed fairing, allowing the wheel to operate in the harshest environments.

[0080] With reference to Figure 5, an example of a motorization architecture for a light vehicle 200 equipped with a self-contained motorization unit from Figure 4 is described below.

[0081] Generally, one or more drive wheels can be used to provide traction or propulsion to a wheeled vehicle. The vehicle can move on a single drive wheel, on multiple drive wheels, or on a combination of drive and non-drive wheels. The wheels can be fixed or swivel. A fixed wheel is defined as a wheel that maintains the same orientation relative to the vehicle's base regardless of the vehicle's direction of travel. A swivel wheel is defined as a wheel with a horizontal axis that pivots around a vertical axis, allowing the direction of travel of the vehicle to which the wheel is attached to be changed. The wheel's axle is a horizontal axis passing through the wheel's center of rotation.

[0082] Depending on the vehicle's geometry, the number of wheels and the load distribution, several drive wheel layouts can be considered to ensure the proper functioning of the drive wheel(s).

[0083] In Figure 5, the mobile vehicle 200 comprises four non-driven, swiveling wheels 61, 62, 63, and 64, and one driven wheel 201. The driven wheel is centrally located relative to the vehicle's base and provides electric assistance for the vehicle's movement. The wheel 201 is coupled via an epicyclic reduction gear to the self-contained drive unit 20 shown in Figure 4. The mobile vehicle 200 further includes a safety scanner 5 configured to acquire safety information and enhanced information about the environment in which the autonomously navigating vehicle is moving.

[0084] With reference to Figure 6, the implementation steps of a self-guidance method for a light vehicle 500 equipped with a motorization assembly of the present invention are described below.

[0085] The light vehicle 500 is equipped with four fixed wheels 61, 62, 63, 64 and two drive wheels 501, 502. The two drive wheels are each equipped with a self-contained motorization unit 20.1, 20.2 of Figure 4. The front and rear of the vehicle are equipped with a safety scanner 505, 515.

[0086] In a first step, a fixed central navigation control unit 71 transmits mission orders to the navigation control processors of the two autonomous propulsion units 20.1, 20.2. For example, mission orders These can be the path to be traveled between a starting position A and a destination position B along a given trajectory. Furthermore, the central navigation control unit 71 also transmits a database representing the environment in which the vehicle is moving. For example, the database is presented as a three-dimensional point cloud.

[0087] In a second step, the navigation control processors calculate the trajectory which is transmitted as instructions to the safety processors which control the motors to move the vehicle in the environment.

[0088] In a third step, one of the scanners 505 or 515 acquires environmental information during the vehicle's movement from multiple image views. In Figure 6, for example, scanner 505 is activated to capture images during the vehicle's movement. For instance, if the scanner consists of a camera or a LiDAR, multiple images of the environment are acquired. These multiple images could be, for example, of the same scene taken from different spatial viewpoints. The information consists of enriched environmental data and safety information.

[0089] In a fourth step, the 505 scanner transmits enriched environmental information to the navigation processors 4 and safety information to the dependability processors 2.

[0090] In a fifth step, the navigation control processors use the enriched environmental information received to perform the following navigation functions: reconstructing the environment from this enriched information, determining the vehicle's position within this reconstructed environment, predicting a path for the vehicle to follow, and adapting the path accordingly. The dependability processors use the received safety information to perform one of the safety functions. Depending on the configuration, if the safety processors determine from the safety information that an obstacle is present on one side of the vehicle, they transmit a control signal to control interface 3 to prevent one of the two directions of rotation.According to another configuration, illustrated in Figure 5, if an obstacle, for example an operator 70, is detected in the field of view, the safety processors transmit a signal to the control interface 3 to limit the rotational speed of the two drive wheels 501, 502. According to yet another configuration, if the obstacle is detected at an immediate distance from the vehicle, the processors can activate the SS1 function to engage engine braking by controlled deceleration.

[0091] In a sixth step, when the vehicle arrives at the destination, the autonomous powertrain assemblies stop the engines.

[0092] During movement, the drive control systems 1 can communicate with the remote fixed central unit 71 to exchange data. Industrial application

[0093] These technical solutions can be used in various industrial application areas, such as the automotive industry, the food industry, the logistics industry, to equip industrial handling trolleys to transport spare parts or items between workstations or work units in order to optimize the logistics flow while preserving the safety of operators.

Claims

DEMANDS

1. Control system (1, 10, 100) of at least one electric motor (22) for autonomous navigation vehicle, said system comprising; - at least one electronic control interface (3, 13.1, 13.2, 103.1, 103.2) each associated with an electric motor (22, 42.1, 42.2, 52.1, 52.2), at least one dependability processor (2, 12, 102.1, 102.2) connected to at least one electronic control interface (3, 13.1, 13.2, 103.1, 103.2) to ensure the control of said at least one electric motor from safety information from a safety scanner (5, 15, 105) and a navigation control processor (4, 14, 104) configured to process environmental information from the safety scanner (5).

2. System (10) according to claim 1, wherein at least one control interface (3, 13.1, 13.2) comprises two electronic control interfaces (13.1, 13.2), each associated with an electric motor (42.1, 42.2), the safety processor (12) being connected to the two electronic control interfaces (13.1, 13.2) to ensure the control of the two motors from the safety information transmitted by the scanner (15).

3. System (100) according to claim 1, wherein at least one control interface (3, 103.1, 103.2) comprises two electronic control interfaces (103.1, 103.2) each associated with an electric motor (52.1, 52.2) and at least one dependability processor comprises two dependability processors (102.1, 102.2), each of the two dependability processors being connected to an electronic control interface (103.1, 103.2) to ensure the control of the two motors from the dependability information transmitted by the scanner (105).

4. A system according to any one of claims 1 to 3, wherein said at least one safety processor (2, 12, 102.1, 102.2) is configured to determine whether an obstacle is detected within a field of view of the safety scanner (5, 15, 105) from the safety information received and to perform at least one safety function from among the following safety functions: - a “STO” safety function corresponding to an electrical disconnection of the motor to eliminate torque; - a “SDI” safety function corresponding to a prohibition of one of the two directions of rotation of the motor; - a “SLS” safety function corresponding to a limitation of the motor's rotation to a maximum speed; - a “SS1” safety function corresponding to engine braking by controlled deceleration; - a safety function “SBC” corresponding to a stop of the engine by engaging a brake.

5. A system according to any one of claims 1 to 4, wherein the navigation control processor (4, 14, 104) is configured to provide vehicle navigation control by performing the following navigation functions: - calculation of at least one trajectory to be followed by the vehicle in an environment from information transmitted by a central control unit (71); - reading of enriched environmental information acquired by said at least one security scanner (5, 15, 105) during the movement of the vehicle in the environment; - reconstruction of the environment and determination of the vehicle's position in said environment; - prediction of at least one path to be followed by the vehicle and adaptation of the trajectory to the environment.

6. Self-contained motorization assembly (20, 40, 50) for an autonomous navigation vehicle comprising: - at least one electric motor (22, 42.1, 42.2, 52.1, 52.2) generating a rotational movement; - an energy source (21, 41, 51) configured to store and release the energy required for the autonomous operation of said assembly; - a control system (1, 10, 100) of said at least one electric motor according to one of claims 1 to 5.

7. Assembly according to claim 6, comprising a chassis (23) and an external profiled shell (25) forming an external housing, the chassis (23) comprising a receiving space (28) for receiving and holding in position the electric motor (22), a first internal profiled shell (27) and a second internal profiled shell (24) assembled together to form a sealed internal housing in which the power source (21), the control system (1, 10, 100) are received, said housing also being received in the receiving space of the external housing.

8. Assembly according to claim 7, wherein the second internal profiled shell forms a user interface (24) comprising communication connections, a charging connection, and a means for indicating the charge status of the power source (21, 41, 51), said user interface (24) being positioned opposite of an opening (26) made in the external profiled shell (25) so that the charging connection and the indication means are accessible and visible from outside the case.

9. Assembly according to any one of claims 6 to 8, wherein the power source (21, 41, 51) comprises at least one Ni-MH or Li-ion type battery.

10. Assembly according to any one of claims 6 to 9, wherein the electric motor (22) is coupled to a drive wheel (201) via an epicyclic reducer.

11. Autonomous navigation vehicle (200, 300, 400, 500) comprising at least one drive wheel (201, 301, 302, 401, 402, 501, 502) driven by an autonomous motorization assembly according to any one of claims 6 to 10, and at least one safety scanner (5, 15, 105, 505, 515) configured to acquire safety information and enriched information about the environment in which said vehicle is moving.

12. Vehicle according to claim 11, wherein said safety scanner (5, 15, 105) is connected to the safety control processor (2, 12, 102.1) and the navigation control processor (4, 14, 104) respectively via a safety information communication bus (7, 17, 107) and an enriched environment information communication bus (6, 16, 106).

13. Vehicles according to claim 11 or 12, wherein said at least one security scanner (5, 15, 105) is a lidar system.

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