electric motor control system with integrated safety and navigation control

Abstract

A control system (1) for at least one electric motor (22) for an autonomous navigation vehicle, said system comprising: - at least one electronic control interface (3) associated with each electric motor (22), at least one functional safety processor (2) connected to at least one electronic control interface (3) to control said at least one electric motor (22) based on safety information from a safety scanner (5), and a navigation control processor (4) configured to process environmental information from the safety scanner (5). Abstract figure: Figure 1

Description

Title of the invention: 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 motor assembly and an autonomous navigation vehicle equipped with such a motor control system. Previous technique

[0003] A load transport vehicle, such as a picking cart used in a warehouse, or a cart for transporting mechanical parts between two workstations in a factory, can be equipped with an electric drive system, thus allowing a user to move the vehicle effortlessly, or with limited effort. However, it has been observed that, for example, in warehouses with long aisles, the use of such a quasi-manual cart means that the operator has to travel long distances, which causes 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 layout of the warehouse to avoid wasting time.

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

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

[0006] Geoguiding technology is based on mapping the environment in which the vehicle is moving. It allows the vehicle to orient itself within the environment. to work autonomously and calculate its route automatically. To achieve this, the vehicle is generally equipped with a lidar system that acquires multiple images of the environment. 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. The safety information acquired by the lidar system or other sensors is sent to a controller coupled to the drive system, capable of cutting off power to the motors or engaging a 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. This results in a large number of modules required to provide safety and navigation functions, forming a fragmented, relatively complex and costly architecture, poorly suited for full integration on a rolling vehicle, such as a light cargo vehicle or a mobile robot.

[0009] The present disclosure aims to remedy these drawbacks by proposing a motor control system that allows the safety control function and the navigation function to be integrated and combined together, while presenting a reduced size and 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 associated with each electric motor, at least one reliability processor connected to at least one electronic control interface to ensure the control of said at least one electric motor from safety information from a safety scanner and a navigation control processor configured to process environmental information from the safety scanner.

[0012] According to one embodiment, the system comprises a safety processor and 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, the system comprises two safety processors and two electronic control interfaces, each associated with an electric motor, each processor 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 may optionally be implemented independently of each other or in combination with each other.

[0015] The safety processors are configured to determine whether an obstacle is detected within the field of vision of the safety scanner based on the safety information received 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] According to another aspect, a self-contained motorization system for an autonomous navigation vehicle 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 comprises 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, an autonomous navigation vehicle is proposed 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 security 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 from reading the detailed description below and from analyzing the accompanying drawings, in which: Fig. 1

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

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

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

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

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

[0031] [Fig.6] Fig.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 is moving.

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

[0035] In the context of the present invention, a safety scanner is an environmental sensing device commonly used in autonomous mobile robotics. It provides, on the one hand, operational safety information regarding the presence of an obstacle in pre-configured risk zones, and on the other hand, it provides distance information, known as enriched environmental information, relative to surrounding elements. The safety information is typically used to prohibit 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 the environment, information useful for the navigation of autonomous mobile devices.

[0036] For the purposes of this disclosure, “enriched environmental information” means 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 environment. This information is used to to feed and enrich the vehicle's navigation algorithms in order to reconstruct the environment in which the vehicle is moving and the position of the acquisition device in the reconstructed environment.

[0037] With reference to [Fig.1], a motor control system 1 for a light autonomous navigation vehicle according to an embodiment is shown.

[0038] The control system 1 has the function of controlling the vehicle's engines based on safety information and enriched environmental information transmitted by a safety scanner 5.

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

[0040] The self-contained unit 20 will be described in more detail below with reference to [Fig.4]. It may include an electric motor 22 configured to generate a rotational motion, and a power source 21 that stores and releases the energy required for the self-contained operation of the self-contained unit.

[0041] The safety scanner 5 is capable of capturing information about the environment in which the light vehicle is moving. The safety scanner may include, but is not limited to, a two-dimensional imaging camera, a three-dimensional imaging camera, a lidar system, or any other equivalent system capable of acquiring multiple images of the environment. The data from the scanner 5 may be of two distinct types. The data may include safety information indicating, for example, 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 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 enriched environmental information are processed by two separate processors, the engine's dependability processor 2 and the navigation control processor 4, both of which are integrated into the same physical entity, the engine control system 1.

[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: - electrical disconnection of the motor 22 to eliminate torque, corresponding to the STO (Safe Torque Off) safety function; - prohibition of one of the two directions of rotation if an obstacle is present on one side of the vehicle, corresponding to the SDI (Safe Direction) safety function; - limitation of 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 SLS (Safety Limited Speed) safety function.- Engine braking by controlled deceleration if an imminent obstacle is detected, corresponding to the safety function known as SS1 (acronym for "Safe Stop"), - Engine stopping by engaging a brake, corresponding to the safety function known as SBC (acronym for "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 communication network dedicated to safety such as CANopen Safety, PROFIsafe or FSoE (acronym for the English term "Fail Safe over Ethercat").

[0046] According to 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. According to another embodiment, when the rotational speed of the two drive wheels is different, 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 5.

[0048] The navigation control processor 4 is configured to perform vehicle navigation control based on 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 the 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 [Fig. 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 in the environment.

[0050] To generate a reconstruction of an environment from enriched environmental information, such as different image captures, several prior art algorithms can be used depending on the sensor considered for the environmental perception system. For example, if the environmental perception sensor is a camera or a lidar, then "SLAM" type algorithms can be used to obtain a two- or three-dimensional reconstruction of the environment. In the case of a lidar or laser sensor, the different point reconstructions can be assembled into a single global reconstruction using an ICP (iterative closest point) approach.

[0051] The navigation control processor 4 and the scanner 5 are connected 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 5.

[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 of the serial bus type, CANopen, PROFInet or EtherCAT for example.

[0053] In known solutions, safety information and enriched environmental information are processed by different components. Safety information is generally sent to safety logic that is capable of cutting off engine power or engaging engine braking 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 unit 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 according to this disclosure is particularly suitable for integration into a self-contained drive unit to drive a drive wheel of a light vehicle. One of the main advantages of the present system is its simplicity in architecture and implementation, while ensuring automatic guidance and safety in a dynamic environment.

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

[0056] The motor control system of [Fig.2] allows the control of two electric motors 42.1, 42.2 of an autonomous motor unit 40 to drive the drive wheels 301, 302 of a vehicle 300. The unit 40 also includes a rechargeable energy source 41 to power 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 dependability 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 dependability 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 of the serial bus type, CANopen, PROFInet or EtherCAT for example.

[0062] Advantageously, the architecture of the control system 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 [Fig.3], a motor control system 100 according to a third embodiment is illustrated.

[0064] The motor control system 100 of [Fig.3] also allows the control of two electric motors 52.1, 52.2 of an autonomous motor unit 50 to drive the two drive wheels 401, 402 of a vehicle 400. The unit 50 further includes a rechargeable energy source 51 to power the motors.

[0065] The control system 100 comprises 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 control the two motors 52.1, 52.2 from the safety information 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 functional safety processor 102.1 and to 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 safety processor 102.1 is connected to the second functional safety 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 of the serial bus type, 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 [Fig.4], an exploded view illustrates an example of the realization of an autonomous motorization assembly 20 integrating the motorization control system which can be the control system of one of the figures 1 to 3.

[0071] The assembly 20 includes an external housing which supports and secures all the elements for driving and controlling 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 card 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 shell 27 may be made of electrically insulating material and has enhanced mechanical properties that ensure the retention of the components and resistance to mechanical stresses such as vibrations and / or shocks during operation. The housing material is, for example, a composite material. It may be made of glass fiber reinforced plastic.

[0075] Preferably, the two internal profiled shells 27 and 24 comprising the electronic system 1 can fit together so as to obtain a watertight housing. In addition, sealing gaskets are positioned between the two shells and the parts that make up the case.

[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 disposed on one face of a motor housing, at one axial end of the motor, so as 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 enriched 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 [Fig. 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 provided with a housing management interface and may include, for example, communication interface connections, a charging connection, and a means for indicating the operating status 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 [Fig. 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 drive unit of the present invention is particularly advantageous. Indeed, it allows all the elements of the drive unit to be assembled in a single housing forming a single modular functional block that is coupled to the wheel. Furthermore, the elements of the self-contained drive unit are contained within a robust and completely sealed housing, enabling the wheel to operate in the harshest environments.

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

[0081] Generally, one or more drive wheels can be used to provide traction or propulsion to the movement of a rolling vehicle. The rolling vehicle can move on a single independent drive wheel, on several drive wheels, or on a combination of drive and non-drive wheels. The wheels can be fixed or swiveling. 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 swiveling 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 geometry of the vehicle, 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 [Fig. 5], the rolling vehicle 200 comprises four non-driven swiveling wheels 61, 62, 63, 64 and a drive wheel 201. The drive wheel is arranged in a central position 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 of [Fig. 4]. The rolling vehicle 200 further comprises 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 [Fig.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. Each of the two drive wheels is equipped with a self-contained drive unit 20.1, 20.2 of [Fig. 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 commands to the navigation control processors of the two autonomous drive units 20.1, 20.2. For example, the mission commands may be the path to be followed between a starting position A and an arrival 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 in the form of 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, 515 acquires environmental information during the vehicle's movement from a plurality of environmental images. In [Fig. 6], for example, scanner 505 is activated to capture the images during the vehicle's movement. For instance, if the scanner consists of a camera or a Lidar, a plurality of environmental images are acquired. This plurality of images can, for example, be 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 scanner 505 transmits the enriched environmental information to the navigation processors 4 and the 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: reconstruction of the environment from the enriched environmental information, determination of the vehicle's position in this reconstructed environment, prediction of a path for the vehicle to follow, and adaptation of the path with respect to the reconstructed environment. The dependability processors use the received safety information to perform one of the safety functions. According to one 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 the control interface 3 to prohibit one of the two directions of rotation. According to another configuration, which is illustrated in [Fig.[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 drive assemblies stop the motors.

[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 trolley type vehicles to transport spare parts or articles between stations or work units in order to optimize the logistics flow while preserving the safety of operators.

Claims

Claims

1. Control system (1, 10, 100) of at least one electric motor (22) for an autonomously navigated 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 operational safety processor (2, 12, 102.1, 102.2) connected to a safety scanner (5, 15, 105) via a safety information transmission link (7, 17, 107) and 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 coming from the safety scanner (5, 15, 105) and a navigation control processor (4, 14, 104) configured to process environmental information coming from the safety scanner (5, 15, 105), - said at least one electronic control interface, said at least one operational safety processor and the navigation controller processor being integrated into a single physical entity.

2. System (10) according to claim 1, in which the 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 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 the at least one control interface comprises two electronic control interfaces (103.1, 103.2) each associated with an electric motor (52.1, 52.2), and the at least one operational safety processor comprises two operational safety processors (102.1, 102.2), each of the two operational safety processors being connected to an electronic control interface (103.1, 103.2) to ensure the control of the two motors from the safety information transmitted by the scanner (105).

4. System according to 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 in a field of vision of the safety scanner (5, 15, 105) from the received safety information and to perform at least one safety function among the following safety functions: - a safety function “STO” corresponding to an electrical disconnection of the motor to remove the torque; - a safety function “SDI” corresponding to a prohibition of one of the two directions of rotation of the motor; - a safety function “SLS” corresponding to a limitation of the rotation of the motor to a maximum speed; - a safety function “SS1” corresponding to a braking of the motor by a controlled deceleration; - a safety function “SBC” corresponding to a stopping of the motor by engaging a brake.

5. System according to one of claims 1 to 4, wherein the navigation control processor (4, 14, 104) is configured to ensure the control of the navigation of the vehicle by carrying out the following navigation functions: - calculation of at least one trajectory to be carried out by the vehicle in an environment from the information transmitted by a central control unit (71); - reading of the enriched information on the environment acquired by said at least one safety scanner (5, 15, 105) during the movement of the vehicle in the environment; - reconstruction of the environment and determination of the position of the vehicle in said environment; - prediction of at least one path to be followed by the vehicle and adaptation of the trajectory to the environment.

6. Autonomous 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 restore the energy necessary for the autonomous operation of said assembly; - a control system (1, 10, 100) for said at least one electric motor according to one of claims 1 to 5.

7. An 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 energy source (21) and the control system (1, 10, 100) are received, said housing also being received in the receiving space of the external housing.

8. An 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 state of charge of the energy source (21, 41, 51), said user interface (24) being positioned opposite 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 housing.

9. Assembly according to one of claims 6 to 8, in which the energy source (21, 41, 51) comprises at least one Ni-MH or Li-ion type accumulator.

10. Assembly according to one of claims 6 to 9, in which 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 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 on the environment in which said vehicle is moving.

12. A 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 enhanced environment information communication bus (6, 16, 106).

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

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