Handling machine comprising an auxiliary power supply system and corresponding management method

Abstract

The invention relates to a handling machine comprising a battery (110) configured to provide electrical power to at least one electric motor (120). An auxiliary power supply system (130) includes a combustion engine (130A), a power generation device (130B), and a control unit (130C) for the combustion engine, enabling at least the control of the engine's start and stop status. The machine also includes a system (140) for determining the machine's location and / or environment; and a processing unit (10) configured to stop or prevent the combustion engine (130A) from starting based on the machine's determined location and / or environment. The invention also relates to a corresponding management method. (See Fig. 2 for abbreviations.)

Description

Title of the invention: Handling machine comprising an auxiliary electrical power supply system and corresponding management method FIELD OF THE INVENTION

[0001] The present invention relates generally to handling machines comprising an auxiliary electrical power supply system.

[0002] Such a machine may in particular be produced in the form of a vehicle (trolley) with a tilting telescopic arm, a mechanical excavator, a bucket loader, a lifting platform, a masted trolley or another type of machine. PREVIOUS ART

[0003] Machines for handling loads or people are known from the state of the art, comprising a chassis and a handling system carried by the chassis, as well as a system for moving the chassis on the ground, and a system for actuating the handling system.

[0004] Some machines include an electric motor for controlling the ground movement system of the chassis. In this case, the machine includes a main electrical power system comprising a battery configured to electrically power the electric motor.

[0005] However, since the operating autonomy of the machine with the battery is limited and the machine may be located in an area without a battery recharging facility, it is known to add to the machine an auxiliary electrical power supply system, of the generator set type, which comprises a thermal engine usually of the diesel or gasoline type, and an electricity generation device (also called a generator or alternator) configured to generate electricity from the rotational movement of the output shaft of the thermal engine. This auxiliary electrical power supply system makes it possible to continue to power the electric motor when the remaining autonomy of the battery is no longer sufficient or to recharge the battery.

[0006] However, such an auxiliary power supply system which uses a thermal engine is polluting, both in terms of noise and in terms of the emission of harmful gases. As a result, in places or environments for which an absence or limitation of pollution is required, the operator must take care not to use the auxiliary power supply system or is forced to use another electric handling machine which is devoid of an auxiliary power supply system of the generator set type.

[0007] It is understood that having to change machines, or having to check that the auxiliary electrical power supply system is stopped, is tedious for the operator.

[0008] The present invention aims to propose a new machine and a new method making it possible to overcome all or part of the problems set out above. Summary of the invention

[0009] To this end, the invention relates to a machine for handling loads or people, the machine comprising: - a chassis and a handling system carried by the chassis; - a chassis ground movement system; - a system for actuating the handling system; - an electric motor to control the chassis ground movement system; - a battery configured to provide electrical power to at least the electric motor; - an auxiliary power supply system comprising: - a heat engine, - a device for generating electricity from the rotational movement of the output shaft of the heat engine, and - a thermal engine control unit enabling at least the running and stopping state of the thermal engine to be controlled; characterized in that the machine also comprises: - a system for determining the location and / or environment of the machine; and - a main processing unit of the machine configured to: determine the location and / or environment of the machine; and communicate with the control unit of the thermal engine to stop or prevent the starting of the thermal engine of the auxiliary electrical power system depending on the determined location and / or environment of the machine.

[0010] Thanks to such a design of the machine which makes it possible to determine where the machine is located and / or in which environment the machine operates and to deactivate the auxiliary electrical power supply system depending on the location and / or the determined environment, the operator can benefit from continuity of use of the machine when the machine moves from a first zone to a second zone for which the pollutant emission constraints (of the gas and / or noise type) are not the same, and imply in one of the zones having to prevent or limit the use of the auxiliary electrical power supply system.

[0011] The machine according to the invention can thus have different operating configurations, each adapted to the location or the determined environment, in particular when the location or the determined environment requires zero or limited emission of noise and / or chemical pollutants.

[0012] Indeed, the possibility of deactivating the thermal engine of the auxiliary electrical power supply system depending on the location or the determined environment, makes it possible to avoid the operator having to check that the auxiliary electrical power supply system is stopped or having to change machines or having to ensure that a battery charging installation is present in the operating area, and having to wait for the battery to recharge.

[0013] The machine may also include one or more of the following characteristics taken in any technically admissible combination.

[0014] According to one embodiment, the auxiliary electrical power supply system is removably mounted relative to the chassis.

[0015] The removability of the auxiliary power supply system makes it possible to make the machine modular and to equip the machine with the auxiliary power supply system according to the user's needs, while offering the user the flexibility of operation of the machine regardless of the areas or environments where the machine is located, thanks to the possibility of automatically deactivating the auxiliary power supply system when the machine is located in a given location or environment determined by the machine.The activation or not of the auxiliary power supply system depending on the location or environment determined by the machine is done transparently for the operator who thus benefits from a machine with significant autonomy without the operator having to worry about knowing in what type of zone or environment the machine is operating and whether or not he must change machines or without the operator having to check that the auxiliary power supply system is stopped.

[0016] According to one embodiment, the battery is also configured to enable the actuation system of the handling system to be electrically powered.

[0017] According to one embodiment, the machine comprises a radio communication module configured to receive a control instruction transmitted from a remote terminal, to control the thermal engine of the auxiliary electrical power supply system.

[0018] According to one embodiment, the machine comprises a human-machine interface, such as a button, manually operable by an operator, such as the driver of the machine, to deactivate or prevent activation of the motor.

[0019] According to one embodiment, when the processing unit has commanded the control unit to deactivate or prevent the activation of the thermal engine of the system auxiliary electrical power supply, the processing unit is capable of receiving a forcing instruction from a forcing instruction transmission system, the processing unit being configured to, upon receipt of the forcing instruction, command the control unit of the thermal engine, command the activation of said thermal engine of the auxiliary electrical power supply system.

[0020] According to one embodiment, in which when the processing unit receives an instruction to force activation of the auxiliary electrical power supply system, the processing unit is configured to control the control unit of the thermal engine to control the activation of said thermal engine, while at least partially limiting the operation of the machine or while limiting the authorized operating time of the auxiliary electrical power supply system.

[0021] According to one embodiment, limiting at least part of the operation of the machine comprises limiting at least part of the movement functions of the machine and / or the handling system of the machine.

[0022] According to one embodiment, the system for determining the location and / or environment of the machine comprises: - a device for acquiring images or data representative of the machine's environment, such as the distance between the machine and an external object, and - an analysis module configured to identify the location and / or environment of the machine from the images and / or data representative of the environment acquired.

[0023] According to one embodiment, the system for determining the location and / or environment of the machine comprises a geolocation device, for example by satellite.

[0024] According to one embodiment, the auxiliary electrical power supply system comprises a memory accessible to the main processing unit, said memory comprising at least one piece of data relating to the pollutant emission of the heat engine of the auxiliary electrical power supply system, and the main processing unit is configured to control the control unit of the heat engine of the auxiliary electrical power supply system also as a function of said at least one piece of data relating to the pollutant emission of the heat engine of the auxiliary electrical power supply system.

[0025] According to one embodiment, the machine comprises a human-machine interface making it possible to provide the main processing unit with at least one piece of data relating to the pollutant emission of the thermal engine of the auxiliary electrical power supply system, and the main processing unit is configured to control the control unit of the thermal engine of the auxiliary electrical power supply system in also a function of said at least one data item relating to the emission of pollutants from the thermal engine of the auxiliary electrical power supply system.

[0026] According to one embodiment, the processing unit compares at least one piece of data relating to the pollutant emission associated with the heat engine of the auxiliary electrical power supply system with at least one piece of data relating to the authorized pollutant emission associated with the determined location or environment, and the main processing unit is configured to control the control unit of the heat engine of the auxiliary electrical power supply system according to the result of the comparison of said data relating to the pollutant emissions.

[0027] According to one embodiment, said at least one piece of data relating to the authorized pollutant emission associated with the determined location or environment is data stored in a database stored locally in the machine or on a server accessible by the processing unit of the machine.

[0028] According to one embodiment, the database comprises location or environmental data, forming for example a map, with which are associated data relating to the authorized emission of pollutants, such as authorized emission threshold values, possibly also associated with time slots, so that the processing unit is configured to: - when the location or environment of the machine is determined, - identify in the database, data relating to the authorized emission of pollutant which is associated with a location or an environment corresponding to the determined location or environment; - control the control unit of the thermal engine of the auxiliary electrical power system according to the data relating to the authorized pollutant emission and the data relating to the pollutant emission of the auxiliary electrical power system.

[0029] According to one embodiment, when the processing unit determines that a determined location or environment is compatible with the operation of the thermal engine of the auxiliary electrical power supply system in said determined location or environment, and when the remaining battery life is below a given threshold value, then the processing unit is configured to transmit to the control unit of the auxiliary electrical power system a command to activate the thermal engine of the auxiliary electrical power system to power the electric motor of the machine and recharge the battery.

[0030] According to one embodiment, when a determined location or environment is incompatible with the operation of the thermal engine of the auxiliary electrical power supply system, and when the remaining autonomy of the battery is below a given threshold value, then the processing unit is configured to trigger the sending of warning data to a warning device, such as a screen, to require the recharging of the battery by an external electrical recharging installation or the movement of the machine to a location or environment compatible with the operation of the thermal engine of the auxiliary electrical power supply system in order to recharge the battery by activating the auxiliary electrical power supply system when the machine has reached this location or said compatible environment.

[0031] According to one embodiment, when a determined location or environment is incompatible with the operation of the thermal engine of the auxiliary electrical power supply system, and when the remaining autonomy of the battery is insufficient to move the machine to a location or environment compatible with the operation of the thermal engine of the auxiliary electrical power supply system, then the processing unit authorizes the operation of the thermal engine of the auxiliary electrical power supply system in order to recharge the battery by activating the auxiliary electrical power supply system for a given time and / or by at least partially limiting the operation of the machine.

[0032] The invention also relates to a method for managing an auxiliary electrical power supply system of a handling machine, said handling machine being in accordance with any one of the preceding embodiments, said handling machine comprising an auxiliary electrical power supply system which comprises: - a heat engine, - a device for generating electricity from the rotational movement of the output shaft of the heat engine, and - a thermal engine control unit enabling at least the running and stopping state of the thermal engine to be controlled; the method comprising the following steps: - determine the location and / or environment of the machine; and - communicate with the thermal engine control unit to stop or prevent the thermal engine from starting the auxiliary electrical power system depending on the location and / or the determined environment of the machine.

[0033] According to one embodiment, the thermal engine of the auxiliary electrical power system is deactivated or is prevented from being activated when the machine is in a structure comprising a ceiling or in a dense urban area.

[0034] According to one embodiment, when the processing unit determines that a determined location or environment is compatible with the operation of the thermal engine of the auxiliary electrical power supply system in said determined location or environment, and when the remaining battery life is below a given threshold value, then the processing unit transmits to the control unit of the auxiliary electrical power system a command to activate the thermal engine of the auxiliary electrical power system to power the electric motor of the machine and recharge the battery.

[0035] It can be provided that the compatibility results from the fact that the level of pollution emission (gas, particles, or noise) of the heat engine is lower than the level of authorized pollution emission associated with the determined location or environment.

[0036] According to one embodiment, when a determined location or environment is incompatible with the operation of the thermal engine of the auxiliary electrical power supply system, and when the remaining autonomy of the battery is below a given threshold value, then the processing unit triggers the sending of warning data to a warning device, such as a screen, to request the recharging of the battery by an external electrical recharging installation or the movement of the machine to a location or environment compatible with the operation of the thermal engine of the auxiliary electrical power supply system, in order to recharge the battery by activating the auxiliary electrical power supply system when the machine has reached this location or said compatible environment.

[0037] Such a design of the machine makes it possible to anticipate a need to recharge the battery when the location or environment of the machine does not allow the activation of the auxiliary electrical power supply system for recharging the battery in said location or said environment.

[0038] According to one embodiment, when a determined location or environment is incompatible with the operation of the thermal engine of the auxiliary electrical power supply system, and when the remaining battery life is insufficient to move the machine to a location or environment compatible with the operation of the thermal engine of the auxiliary electrical power system, then the processing unit authorizes the operation of the thermal engine of the auxiliary electrical power system in order to recharge the battery by activating the auxiliary electrical power system for a given time and / or by limiting at least in part the operation of the machine (for example by limiting the movement functions and / or the operation of the handling system of the machine).

[0039] Such a design leaves the possibility in particular cases, for example when the machine is too far from a location or environment compatible with the operation of the thermal engine of the auxiliary electrical power supply system and / or an electrical charging installation, to be able to recharge the battery using the auxiliary electrical power supply system and then be able to move the machine to a compatible area, or to be able to finish an operation if the necessary intervention time is sufficiently short.

[0040] According to one embodiment, the processing unit is configured to limit the operation of at least one part of the machine based on the comparison of at least one piece of pollutant emission data from the heat engine (emitted pollution level) of the auxiliary electrical power supply system with at least one piece of authorized pollution emission data (pollution level) associated with the determined location or environment of the machine.

[0041] Such a design of the machine makes it possible, when the authorized pollution level is compatible with the pollution level emitted by the heat engine, to authorize full operation of the machine (without restriction), or otherwise to define / adjust the functions and settings authorized for the operation (such as movement and / or handling) of the machine, depending on the authorized pollutant emission level defined for the location or the determined environment, and the pollution level emitted by the heat engine.

[0042] The terms "unrestricted" are understood as opposed to restrictions provided for in a limited operating mode. Of course, the operating capabilities may be limited as such by the construction characteristics of the machine, or by the operating standards implemented in the machine, or by safety precautions that apply to the machine independently of the pollution data.

[0043] The operator can thus benefit from a machine with great autonomy, while allowing the level of pollution emissions from the machine to be limited.

[0044] Indeed, the operation of the handling system of the machine, for example a telescopic arm equipped with forks, can be restricted, or even prevented, when the emission of pollutants must be limited due to the determined location and the battery life is below a threshold value, in order to save the battery. When the battery is recharged or the machine is moved to a location or environment compatible with the activation of the thermal engine of the auxiliary electrical power supply system, the functions of the machine can be unlocked and the machine can be automatically configured to allow full use of the machine.

[0045] According to one embodiment, when the machine is in a specific location or environment which is incompatible with the operation of the engine thermal engine of the auxiliary power supply system, and when the remaining battery life is too low to leave the determined location or environment, it remains possible to force the activation of the thermal engine of the auxiliary power supply system remotely or using an access code. Such a design makes it possible, particularly in an emergency, to authorize operation of the machine, the operation being preferably restricted to its movement.

[0046] Optionally, even in the event of incompatibility of a pollution emission data of the thermal engine with a pollution emission data authorized in the determined location or environment, it can be provided that handling and / or movement are also authorized, but with a limit, for example a time limit for an operator to be able to complete a given job and / or leave the work area.In particular, a person can receive a code on a terminal, such as their telephone, enter it into a machine control device to transmit a forcing instruction to the control unit of the thermal engine of the auxiliary electrical power system (in other words an instruction to unlock the control of the thermal engine of the auxiliary electrical power system), to be able to move the machine without the actuation of the handling system being permitted or with a limited possibility of actuation of the handling system and / or for a limited time. Brief description of the drawings

[0047] Other characteristics and advantages of the invention will emerge from the following description, which is purely illustrative and non-limiting and must be read in conjunction with the appended drawings, in which:

[0048] - [Fig.l] [Fig.l] is a schematic view of a handling machine according to a embodiment of the invention, the machine comprising an auxiliary electrical power supply system;

[0049] - [Fig.2] [Fig.2] is a schematic view in block form of the arrangement of several components of a handling machine according to one embodiment of the invention, such as the machine of [Fig.l];

[0050] - [Fig.3] [Fig.3] is a schematic view of a set of steps of a method of management of an auxiliary electrical power supply system of a handling machine according to an embodiment of the invention, such as the machine of [Fig.l] DETAILED DESCRIPTION

[0051] The invention is described more fully hereinafter with reference to the accompanying drawings, in which embodiments of the invention are shown. In the drawings, the size and relative sizes of the elements may be exaggerated for the sake of clarity. Like numerals refer to like elements throughout the drawings. However, the invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

[0052] A reference throughout the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment is included in at least one embodiment of the present invention. Thus, the occurrence of the phrase "in an embodiment" at various locations throughout the specification does not necessarily refer to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0053] With reference to the figures, a handling machine is proposed whose propulsion system, and preferably the handling system, is electric and powered by an electric battery. The handling machine is also equipped with an auxiliary electrical power supply system to increase the operating autonomy of the machine. In the example of [Fig.l], the handling machine is a vehicle with an arm, preferably telescopic, tilting, equipped with a tool holder to which a tool such as a bucket or forks is coupled. The handling machine can also be a lifting platform, for example with a pendulum arm.

[0054] Machine structure

[0055] The handling machine 1 comprises a chassis 2 and a handling system 600 carried by the chassis and an actuation system 8 of the handling system, such as jacks. The handling system 600 can be carried by the chassis directly or indirectly via a turret. The actuation system makes it possible to move said handling system relative to the chassis 2 (and where appropriate relative to the turret). The handling machine is described below in the context of a handling system 600 carried directly by the chassis but also applies to a handling system 600 carried by the chassis via a turret.

[0056] The handling system 600 may be, as illustrated in [Fig.l], a load handling system, but may also be a person handling system.

[0057] The machine also comprises a ground movement system 160 of the chassis, and an electric motor 120 for controlling the ground movement of the chassis. The ground movement system 160 of the chassis, and the electric motor 120 thus form at least part of an electric propulsion system of the machine. The machine also comprises a steering control system for directing the ground movement of the machine.

[0058] The ground movement system 160 of the chassis may comprise wheels 3, 4 (or rolling axles) and a movement transmission system for transmitting the rotation of the electric motor 120 to at least some of the wheels. The chassis 2 may thus be, as in the example of [Fig.l], a rolling chassis.

[0059] In the example illustrated in [Fig.l], the machine is a tilting telescopic arm truck. Alternatively, the handling machine may be a machine of another type, such as a masted truck.

[0060] The handling machine comprises a battery 110 configured to enable at least the electric motor 120 to be electrically powered. When the actuation system 8 of the handling system 600 is electric, for example electric jacks, it may be provided that, as in the example illustrated in [Fig. 2], the electric battery 110 is also configured to enable the electric actuation system 8 of the handling system to be powered. It may be provided that the battery 110 is included in a main electrical power supply system comprising, for example, an electronic card which enables functions of the battery to be managed, such as its charging.

[0061] The chassis 2 may comprise a cabin 20 having a door allowing an operator to install himself in the cabin 20 to control the machine.

[0062] The handling machine includes a processing unit 10, comprising for example a computer, which makes it possible to control the handling machine, and in particular to control the movement on the ground of the machine and the handling system. The human-machine interface may comprise one or more control members, such as a joystick and pedals.

[0063] According to one embodiment, an example of which is illustrated in [Fig.l], the handling system comprises an arm 6, usually called a lifting arm, articulated to the rolling chassis 2 so as to be able to be moved between a so-called lowered position and a raised position. In the case of a masted truck, the handling system comprises a mast equipped with a fork system mounted to slide along the mast.

[0064] The lifting arm 6 (or handling arm) is mounted on the chassis 2 and can be oriented around an axis of rotation 7. In particular, said axis of rotation 7 is horizontal when the rolling chassis 2 is resting on horizontal ground. The arm 6 projects towards the front of the machine. According to one embodiment, the axis 7 is closer to the rear axle than to the front axle of the machine. In other words, the arm can be mounted articulated at the rear of the chassis.

[0065] As illustrated in [Fig.l], the arm 6 is preferably of the telescopic type. The arm 6 then comprises at least two deployable segments, for example using a deployment cylinder, not shown, arranged between the at least two segments. Alternatively, the arm may be a non-telescopic arm.

[0066] According to one embodiment of the invention, the actuation system 8 of the handling system, such as the arm 6, comprises a cylinder system. The cylinder system may comprise electric and / or hydraulic cylinders.

[0067] As visible in the example of [Fig.l], the actuation system comprises a jack 8 which makes it possible to move the arm 6 upwards and downwards around the horizontal axis 7, under the control of a control member 12, such as a joystick, connected to the processing unit 10.

[0068] The arm 6 is equipped with a load or person handling device 614. The actuation system may also comprise a cylinder, called a tilt cylinder, which makes it possible to pivot the handling device 614 relative to the arm 6. In the example illustrated, the handling device 614 comprises a load carrier 14, such as a fork or bucket system, which is articulated to the arm 6 by a connection 15, such as a horizontal pivot axis, preferably via an accessory coupling device, also called an apron. The load carrier 14 is configured to carry a payload 9.

[0069] The processing unit 10 is configured to control the actuation system. When the actuation system comprises an electric cylinder, the processing unit 10 controls the electrical power supply of the cylinder by the battery 110.

[0070] When the actuation system comprises a hydraulic cylinder, the processing unit 10 controls a hydraulic circuit (not shown).

[0071] The hydraulic circuit may comprise a hydraulic pressure source, such as a pump, and a solenoid valve for controlling the hydraulic cylinder which may be included in a hydraulic distributor interposed between the hydraulic pressure source and the hydraulic cylinder (actuator). The solenoid valve for controlling the hydraulic cylinder and preferably the pump may be controlled by the processing unit while being powered by the battery.

[0072] Auxiliary power supply system

[0073] The machine includes an auxiliary electrical power supply system 130 which makes it possible to extend the autonomy of the machine by providing an additional electrical power supply.

[0074] The auxiliary electrical power supply system 130 comprises a heat engine 130A, and a device 130B for generating electricity from the rotational movement of the output shaft of the heat engine. The electricity generating device 130B thus forms a generator or alternator. The auxiliary electrical power supply system 130 also comprises a control unit 130C of the heat engine making it possible at least to control the running and stopping state of the heat engine. The control unit 130C is configured to communicate with the processing unit 10.

[0075] The thermal engine can be of the diesel, gasoline, natural gas or hydrogen type, or of the type using any other compatible fuel.

[0076] According to one embodiment of the invention, the auxiliary electrical power supply system 130 is mounted removably relative to the chassis 2. A wired or radio connection is established between the control unit 130C and the processing unit 10 when the auxiliary electrical power supply system 130 is mounted on the machine, which allows the processing unit 10 to detect the presence of the auxiliary electrical power supply system 130. It is also possible to provide for the machine to be equipped with a sensor for detecting the presence of the auxiliary electrical power supply system 130.

[0077] In the case where the auxiliary electrical power supply system 130 is present in a non-removable manner on or in the machine, a connection (radio or wired) is of course also established between the control unit 130C and the processing unit 10.

[0078] Acquisition of data relating to the auxiliary electrical power system

[0079] According to one embodiment of the invention, the electrical power supply system auxiliary power supply system 130 comprises a memory 131 accessible to the main processing unit 10. The memory 131 may be part of the control unit 130C. Said memory 131 stores at least one piece of data relating to the auxiliary power supply system 130, such as data relating to the emission of pollutants, for example the emission of particles or gases, such as NOX or CO2, or data relating to the noise level emitted by the auxiliary power supply system 130. The main processing unit 10 is configured to control the control unit 130C of the thermal engine 130A of the auxiliary power supply system 130 also as a function of said at least one piece of data of the auxiliary power supply system 130.

[0080] According to another embodiment of the invention, possibly combinable with the previous one, the machine comprises a human-machine interface making it possible to provide the main processing unit 10 with at least one piece of data from the auxiliary electrical power supply system 130, such as data relating to the emission of pollutants, for example the emission of particles or gases, such as NOX or CO2, or data relating to the noise level emitted by the auxiliary electrical power supply system 130. The main processing unit 10 is configured to control the auxiliary electrical power supply system 130 also as a function of said at least one piece of data from the auxiliary electrical power supply system 130.

[0081] A data item of the auxiliary power supply system 130 may be an identifier of the auxiliary power supply system 130 from which the processing unit may deduce one or more pollution emission data (pollution level).

[0082] Whatever the embodiment of the invention, it can thus be provided that the unit The main processing unit 10 compares the pollution level emitted by the auxiliary power supply system 130 in operation, determined from at least one data item acquired from the auxiliary power supply system 130, with the corresponding pollution level authorized (tolerated) in the determined location or environment where the machine is located. When the pollution level emitted by the auxiliary power supply system 130 is higher than the authorized pollution level, then the auxiliary power supply system 130 is prevented from starting or is stopped. Conversely, when the pollution level emitted is lower than that tolerated, activation of the thermal engine of the auxiliary power supply system 130 is authorized.

[0083] Special rules may also be provided as explained below, for example depending on the remaining battery life.

[0084] System for determining the location and / or environment of the machine

[0085] The machine comprises a system 140 for determining the location and / or the machine environment.

[0086] The system 140 for determining the location and / or environment of the machine comprises a device for acquiring images or data representative of the environment of the machine, such as the distance between the machine and an external object. The determination system 140 may thus comprise an optical sensor, such as a camera and / or a distance sensor such as LIDAR (acronym for the English expression “light detection and ranging” or “laser imaging detection and ranging”), or radar, or ultrasound. The determination system 140 comprises an analysis module configured to identify the location and / or environment of the machine from the images and / or data representative of the environment acquired by said image acquisition device.

[0087] It may also be provided that the system 140 for determining the location and / or environment of the machine comprises a geolocation device, for example by satellite.

[0088] The location of the machine may include the ground coordinates of the machine which may be used to determine that the machine is located in a city or high density population area.

[0089] A characteristic of the environment of the machine may include the fact that the machine is located in a building, for example following detection by the determination system 140 of the presence of a ceiling above the machine.

[0090] Control of the auxiliary power supply system by the processing unit

[0091] It can be provided that when the auxiliary power supply system 130 is on or in the machine and is connected to the main processing unit 10 of the machine, the processing unit 10 detects the presence of the auxiliary power supply system 130. The detection may result in the processing unit 10 acquiring data from the auxiliary power supply system 130, such as predefined data relating to the pollutant emission of the auxiliary power supply system 130 in operation as explained previously.

[0092] Thanks to the system 140 for determining the location and / or the environment, the main processing unit 10 determines the location and / or the environment of the machine.

[0093] The main processing unit 10 communicates with the control unit 130C of the thermal engine 130A to stop or prevent the starting of the thermal engine 130A of the auxiliary electrical power supply system 130 depending on the location and / or the determined environment of the machine.

[0094] It can thus be provided that the main processing unit 10 is then configured to, when the machine is located in a given zone and / or in a given environment, operate the machine in a mode, called zero emission mode, in which the auxiliary electrical power supply system 130 is not used.

[0095] Conversely, when the machine is located in another given zone and / or in another given environment, compatible with the operation of the auxiliary electrical power supply system 130, the main processing unit 10 is then configured to authorize the activation of the thermal engine 130A of the auxiliary electrical power supply system 130. As explained below, the processing unit can also be configured to manage particular cases of operation of the machine according to the location and / or the determined environment and one or more parameters of the machine. In particular, provision may be made in certain configurations to authorize the starting of the thermal engine 130A of the auxiliary electrical power supply system 130 but by limiting the functionalities of the machine.

[0096] It may be provided that the processing unit 10 comprises a control module 177 of the auxiliary electrical power supply system 130 which makes it possible to transmit to the control unit 130C of the thermal engine, an instruction for controlling the starting or stopping of the thermal engine 130A of the auxiliary electrical power supply system 130 as a function of the data acquired by the location and / or environment determination system 140.

[0097] According to one embodiment of the invention, the control module 177 is also configured to authorize or adjust (parameterize) the operation of components of the machine, other than the auxiliary electrical power supply system 130, based on the data acquired by the location determination system 140 and / or environmental and preference data relating to battery life, and the pollution level of the auxiliary power supply system 130.

[0098] It may be provided that the tolerated pollutant emission data associated with the location and / or environmental data, as well as the emission data of the auxiliary electrical power supply system 130, are such that the control module 177 authorizes operation of the machine at the maximum values ​​of its capabilities, for example when the level of pollutant emission emitted by the auxiliary electrical power supply system 130 is lower than the authorized pollutant emission level. Thus, it may be provided that all of the functionalities of the machine are authorized. For example, in the case of a telescopic forklift, a user can move the machine on the ground, and control the lifting and extension of the telescopic arm without any particular restriction other than restrictions that apply to the machine independently of the driver.

[0099] When the tolerated pollutant emission data associated with the location data are incompatible with the pollutant emission data of the auxiliary electrical power system 130, the control module 177 can command the control unit 130C to deactivate the thermal engine 130A of the auxiliary electrical power system 130. It can be provided that the control module 177 is further configured to adjust (parameterize) the operation of the machine to limit certain functions in order to save the battery 110. It can thus be provided that the movement on the ground of the machine is authorized, but that the control of the handling system 600, such as the lifting of the arm and / or its extension, is limited.It may be provided that the control module 177 limits the travel speed to a maximum travel speed value Vmax, the lifting angle to a maximum lifting angle value Amax, and / or where appropriate the telescoping length of the arm to a maximum telescoping length value Tmax, these values ​​being lower than those defined when no restriction is applied to the machine by the control module 177.

[0100] Radio communication

[0101] The machine may comprise a radio communication module 150 (i.e. a wireless communication means) configured to receive a control instruction for controlling the auxiliary power supply system 130, the control instruction being transmitted from a remote terminal 900 by an operator. The remote terminal 900 may be a computer used for example by a machine rental manager. The radio communication module 150 is preferably associated with the processing unit 10.

[0102] This notably allows remote activation of the auxiliary power supply system 130 by a rental company depending on the payment in order to rent to the service. Said activation may correspond for the processing unit 10 which receives the instruction to an authorization to start the thermal engine 130A which the processing unit 10 can transmit to the control unit 130C of the thermal engine. It is also possible to provide for the radio communication module 150 to be associated directly with the control unit 130C.

[0103] It may be provided that the radio communication module allows communication with the remote terminal via a wireless communication network, for example of the cellular type, such as a mobile telephone network (GSM, GPRS, 3G, 4G 5G, etc.). It may also be provided that the communication module allows communication with a remote device, according to a protocol distinct from mobile telephony. The network may be an Internet of Things network (LORA, SIGFOX, etc.).

[0104] The radio communication module may also use a short-distance communication protocol, such as the Bluetooth protocol.

[0105] It can thus be provided that the radio communication module is used to communicate with a nearby device, for example a radio key, or a smartphone of the user.

[0106] Manual deactivation control

[0107] According to one embodiment of the invention, the machine comprises a human-machine interface, for example at the dashboard of the machine, such as a button, manually operable by an operator, such as the driver of the machine, to deactivate or prevent activation of the auxiliary electrical power supply system 130. Preferably a physical or electronic / computer access control system, for example a padlock or an access code for a user, is associated with said interface to limit access to said interface.

[0108] The code may be in different forms, such as a series of alphanumeric elements to be entered via an interface such as a keyboard (digital code), a QR code or a bar code, for example displayable on a user terminal, such as a smartphone. The code may also be a radio signal sent by a portable device, such as a key equipped with a radio transmitter. The code entered may be a code with validity for a given duration, for example the time of transport.

[0109] Force activation command

[0110] When the processing unit 10 has deactivated or prevents the activation of the auxiliary power supply system 130, it can be provided that the processing unit 10 is capable of receiving a forcing instruction transmitted by a forcing instruction transmission system. Upon receipt of a forcing instruction, the processing unit 10 commands the control unit 130C to activate (start) the thermal engine 130A of the auxiliary power supply system 130.

[0111] Preferably, the forcing instruction transmission system, which can be remote or part of the machine, is configured to condition the sending of a forcing instruction on identification of the user of the forcing instruction transmission system or on the entry of an access code. The user can be identified from a predefined group of authorized users.

[0112] According to one embodiment of the invention, when the processing unit 10 receives an instruction to force activation of the auxiliary electrical power supply system 130, in other words an instruction to unlock the auxiliary electrical power supply system 130, the processing unit 10 authorizes the operation of the auxiliary electrical power supply system 130, while limiting at least part of the movement functions of the machine or of the handling system of the machine or while limiting the authorized operating time of the auxiliary electrical power supply system 130.

[0113] The limitation of at least part of the movement functions of the machine or the handling system of the machine comprises, for example, a restriction of certain movements.

[0114] The limitation of operation of the machine may include all or part of the following limitations: - limitation of arm movements (for example, speed limitation, prohibited piloting of the accessory), - limitation of vehicle forward speed, - limitation of machine acceleration,

[0115] The limitation of operation may also include a limitation of the use of all or part of the comfort functions (heating, air conditioning, etc.).

[0116] When the heat engine is a hydrogen heat engine, the processing unit 10 can be configured to authorize the operation of the auxiliary electrical power supply system, except when the noise level emitted by the hydrogen heat engine is higher than a given threshold level which can be defined in a database internal to the machine or accessible remotely, said authorized noise level preferably being a function of the location and / or the determined environment, and / or a function of a schedule detected via a timestamp determined in the machine.

[0117] In other words, regarding the noise level, the machine can be configured to have local or remote server access to maps with zones prohibiting a given noise level in a given time slot.

[0118] According to a preferred embodiment of the invention, the processing unit comprises in memory or is capable of accessing a location map so that the machine is capable of identifying its location and / or its environment using said map. It may be provided that each location in the map is associated with one or more values ​​of pollutant emission level (gas pollution, or particles or noise pollution) that the processing unit 10 can compare to the pollutant emission level emitted by the heat engine 130A in order to control the control unit 130C of the heat engine accordingly.

[0119] According to one embodiment of the invention, when the auxiliary electrical power supply system 130 is activated (i.e. the heat engine is operating), when the battery level 110 is lower than a given threshold value, and when the machine approaches an area corresponding to a location and / or an environment that the determination system 40 identifies as being a location and / or an environment for which the operation of the heat engine 130A is not compatible with the pollution emission level of the heat engine, the processing unit 10 is configured to emit an alert signal (visual, audible and / or audio) for example on a screen 13, to indicate to the operator to wait for the battery 110 to be recharged before entering said area.

[0120] According to one embodiment of the invention, the processing unit is configured so that, when the auxiliary electrical power supply system 130 is deactivated and when the battery level 110 is below a given threshold value, it emits an alert signal (visual, audible and / or audio) to indicate to the operator to move closer to a battery charging station or to reactivate the auxiliary electrical power supply system 130, for example by moving the machine into an area compatible with such activation of the auxiliary electrical power supply system 130.

[0121] It can thus be provided that when the battery level 110 is lower than a given threshold value and the machine is located in an area corresponding to a location and / or an environment for which the operation of the thermal engine 130A (i.e. its pollutant emission level) is compatible with the authorized pollution emission level, then the processing unit 10 commands the control unit 130C of the thermal engine to start the thermal engine and thus activate the auxiliary electrical power supply system 130 to recharge the battery 110.

[0122] Processing unit and control unit

[0123] One or each of the processing and control units is for example in the form of a processor and a data memory in which computer instructions executable by said processor are stored, or in the form of a microcontroller.

[0124] In other words, the described functions and steps can be implemented in the form of a computer program or via hardware components (e.g., programmable gate arrays). In particular, the functions and steps performed by the processing or control unit can be performed by computer instruction sets or modules implemented in a processor or controller or can be performed by dedicated electronic components or components of the programmable logic circuit type (or FPGA which is the acronym for field-programmable gate array, which literally corresponds to in-situ programmable gate array) or of the application-specific integrated circuit type (or ASIC which is the acronym for application-specific integrated circuit, which literally corresponds to application-specific integrated circuit). It is also possible to combine computer parts and electronic parts.

[0125] The processing unit and / or the control unit is thus an electronic and / or computer unit. When it is specified that said unit is configured to carry out a given operation, this means that the unit comprises computer instructions and the corresponding execution means which make it possible to carry out said operation and / or that the unit comprises corresponding electronic components.

[0126] Management method

[0127] The handling machine presented above makes it possible to implement a method for managing the auxiliary electrical power supply system. One embodiment is described below in connection with [Fig.3].

[0128] A step 310 of detecting the presence of the auxiliary electrical power supply system 130 may be provided. In step 320, the processing unit 10 determines 320 the location and / or the environment of the machine. In step 330, the processing unit 10 controls the deactivation or prevention of the activation of the auxiliary electrical power supply system 130 as a function of the location and / or the determined environment of the machine.

[0129] The auxiliary power supply system 130 may be deactivated or prevented from being activated when the machine is: - in a structure with a ceiling (detected for example due to brightness below a given threshold, said structure being for example the interior of an enclosed building or an underground car park); - in a dense urban area, (detected for example by GPS location, compared with an internal location map or access to a map on a remote server, or by reading a road sign read by image analysis and compared with a reference database).

[0130] The operator can thus benefit from a great deal of autonomy thanks to the presence of the auxiliary electrical power supply system, the activation and / or deactivation of which can be controlled by the processing unit of the machine depending on the location or the determined environment of the machine, so that the operator can benefit from continuity of operation of the machine without having to worry about the location or the environment of the machine.

[0131] The invention is not limited to the embodiments illustrated in the drawings. Accordingly, it should be understood that, where the features mentioned in the appended claims are followed by reference signs, these signs are included solely for the purpose of improving the intelligibility of the claims and are in no way limiting the scope of the claims.

[0132] Furthermore, the term "comprising" does not exclude other elements or steps. Furthermore, features or steps that have been described with reference to one of the embodiments set forth above may also be used in combination with other features or steps of other embodiments set forth above.

Claims

Claims

1. Machine for handling loads or people, the machine comprising: - a chassis (2) and a handling system (600) carried by the chassis; - a system (160) for moving the chassis on the ground; - an actuation system (8) for actuating the handling system (600); - an electric motor (120) for controlling the system for moving the chassis on the ground; - a battery (110) configured to enable at least the electric motor (120) to be electrically powered; - an auxiliary electrical power supply system (130) comprising: - a heat engine (130A), - a device for generating electricity (130B) from the rotational movement of the output shaft of the heat engine, and - a control unit (130C) of the heat engine enabling at least the on and off state of the heat engine (130A) to be controlled;characterized in that the machine also comprises: - a system for determining (140) the location and / or environment of the machine; and - a main processing unit (10) of the machine configured to: determine the location and / or environment of the machine; and communicate with the control unit (130C) of the heat engine (130A) to stop or prevent the heat engine (130A) from starting the auxiliary electrical power supply system (130) depending on the determined location and / or environment of the machine.;

2. Machine according to claim 1, in which the auxiliary electrical power supply system (130) is removably mounted relative to the chassis (2).

3. Machine according to claim 1 or 2, in which the battery (110) is also configured to allow electrical power to be supplied to the actuation system (8) of the handling system (600).

4. Machine according to any one of the preceding claims, in which the machine comprises a radio communication module (150) configured to receive a control instruction transmitted from a remote terminal (900), to control the thermal engine (130A) of the auxiliary power supply system (130).

5. A machine according to any preceding claim, wherein the machine comprises a human-machine interface, such as a button, manually operable by an operator, such as the driver of the machine, to deactivate or prevent activation of the thermal engine (130A) of the auxiliary electrical power system (130).

6. Machine according to any one of the preceding claims, wherein when the processing unit (10) has commanded the control unit (130C) to deactivate or prevent the activation of the thermal engine (130A) of the auxiliary electrical power supply system (130), the processing unit (10) is capable of receiving a forcing instruction from a forcing instruction transmission system, the processing unit (10) being configured to, upon receipt of the forcing instruction, command the control unit (130C) of the thermal engine (130A), command the activation of said thermal engine (130A) of the auxiliary electrical power supply system (130).

7. Machine according to the preceding claim, wherein when the processing unit (10) receives an instruction to force activation of the auxiliary electrical power supply system (130), the processing unit (10) is configured to control the control unit (130C) of the thermal engine to control the activation of said thermal engine, while at least partially limiting the operation of the machine or while limiting the authorized operating time of the auxiliary electrical power supply system (130).

8. Machine according to the preceding claim, wherein the limitation of at least part of the operation of the machine comprises the limitation of at least part of the movement functions of the machine and / or of the handling system of the machine.

9. Machine according to any one of the preceding claims, in which the system (140) for determining the location and / or environment of the machine comprises: - a device for acquiring images or data representative of the environment of the machine, such as the distance between the machine and an external object, and - an analysis module configured to identify the location and / or environment of the machine from the images and / or data representative of the environment acquired.

10. Machine according to any one of the preceding claims, in which the system (140) for determining the location and / or the environment of the machine comprises a geolocation device, for example by satellite.

11. Machine according to any one of the preceding claims, in which the auxiliary electrical power supply system (130) comprises a memory (131) accessible to the main processing unit (10), said memory (131) comprising at least one piece of data relating to the pollutant emission of the heat engine (130A) of the auxiliary electrical power supply system (130), and the main processing unit (10) is configured to control the control unit (130C) of the heat engine (130A) of the auxiliary electrical power supply system (130) also as a function of said at least one piece of data relating to the pollutant emission of the heat engine (130A) of the auxiliary electrical power supply system (130).

12. Machine according to any one of the preceding claims, in which the machine comprises a human-machine interface making it possible to provide the main processing unit (10) with at least one piece of data relating to the pollutant emission of the heat engine (130A) of the auxiliary electrical power supply system (130), and the main processing unit (10) is configured to control the control unit (130C) of the heat engine (130A) of the auxiliary electrical power supply system (130) also as a function of said at least one piece of data relating to the pollutant emission of the heat engine (130A) of the auxiliary electrical power supply system (130).

13. Machine according to claim 11 or 12, in which the processing unit (10) compares at least one data item relating to the pollutant emission associated with the heat engine (130A) of the auxiliary electrical power supply system (130) with at least one data item relating to the authorized pollutant emission associated with the determined location or environment, and the main processing unit (10) is configured to control the control unit (130C) of the heat engine (130A) of the auxiliary electrical power supply system (130) according to the result of the comparison of said data items relating to the pollutant emissions.

14. Machine according to any one of claims 11 to 13, in which said at least one data item relating to the authorized pollutant emission associated with the determined location or environment, is data stored in a database stored locally in the machine or on a server accessible by the processing unit (10) of the machine.

15. Machine according to claim 14, in which the database comprises location or environment data, forming for example a map, with which are associated data relating to the emission of authorized pollutants, such as authorized emission threshold values, possibly also associated with time slots, so that the processing unit is configured to: - when the location or environment of the machine is determined, - identify in the database, data relating to the authorized pollutant emission which is associated with a location or an environment corresponding to the determined location or environment - control the control unit (130C) of the thermal engine (130A) of the auxiliary electrical power system (130) as a function of the data relating to the authorized pollutant emission and the data relating to the pollutant emission of the auxiliary electrical power system (130).

16. Machine according to any one of the preceding claims, wherein, when the processing unit determines that a determined location or environment is compatible with the operation of the thermal engine of the auxiliary electrical power supply system in said determined location or environment, and when the remaining autonomy of the battery is below a given threshold value, then the processing unit (10) is configured to transmit to the control unit (130C) of the auxiliary electrical power supply system (130), a command to activate the thermal engine (130A) of the auxiliary electrical power supply system (130) to power the electric motorization (130) of the machine and recharge the battery (110).

17. Machine according to any one of the preceding claims, in which, when a determined location or environment is incompatible with the operation of the thermal engine of the auxiliary electrical power supply system, and, when the remaining autonomy of the battery is below a given threshold value, then the processing unit (10) is configured to trigger the sending of warning data to a warning device, such as a display, to require the battery to be recharged by an external electrical charging facility or the machine to be moved to a location or environment compatible with the operation of the thermal engine of the auxiliary electrical power system in order to recharge the battery by activating the auxiliary electrical power system when the machine has reached this location or said compatible environment.

18. Machine according to any one of the preceding claims, in which, when a determined location or environment is incompatible with the operation of the thermal engine of the auxiliary electrical power supply system, and when the remaining autonomy of the battery is insufficient to move the machine to a location or environment compatible with the operation of the thermal engine of the auxiliary electrical power supply system, then the processing unit (10) authorizes the operation of the thermal engine of the auxiliary electrical power supply system in order to recharge the battery by activating the auxiliary electrical power supply system for a given time and / or by at least partially limiting the operation of the machine.

19. A method for managing an auxiliary electrical power supply system (130) of a handling machine, said handling machine being in accordance with any one of the preceding claims, said handling machine comprising an auxiliary electrical power supply system (130) which comprises: - a heat engine (130A), - a device for generating electricity (130B) from the rotational movement of the output shaft of the heat engine, and - a control unit (130C) of the heat engine making it possible at least to control the on and off state of the heat engine (130A); the method comprising the following steps: - determining (320) the location and / or the environment of the machine;and - communicate (330) with the control unit (130C) of the thermal engine (130A) to stop or prevent the starting of the thermal engine (130A) of the auxiliary electrical power supply system (130) depending on the location and / or the environment; determined by the machine.

20. The method of claim 19 wherein the heat engine (130A) of the auxiliary power supply system (130) is deactivated or is prevented from being activated when the machine is in a structure comprising a ceiling or in a dense urban area.