Charging Assembly for Autonomous Vehicles with Safety Monitoring

Abstract

A charging docking station (20) configured to be fixedly disposed within a working area, the charging docking station (20) including a battery charger (21), a first operational safety monitor (22) configured to generate and transmit operational safety information, and a first wireless communication transmitter (23) configured to receive the operational safety information transmitted by the first safety monitor (22) and generate and transmit a safety frame including the operational safety information. An autonomous vehicle (10) configured to move within the working area, the vehicle (10) including a battery charger (21), a first operational safety monitor (22) configured to generate and transmit a safety frame including the operational safety information. 2. A charging assembly for an autonomous vehicle comprising: an autonomous vehicle including: a rechargeable electric battery electrically connectable to terminals of a battery charger; a second operational safety monitor connected to the rechargeable electric battery; and a second wireless communication transmitter configured to receive the safety frame including the safety information transmitted by a first wireless communication transmitter and to transmit the safety information to the second operational safety monitor, the second operational safety monitor being configured to process the operational safety information.

Description

[Technical field]

[0001] The present disclosure relates generally to a charging assembly for an autonomous automated guided vehicle (AGV), and more specifically to a self-docking and charging assembly for an autonomous vehicle. [Background technology]

[0002] The use of Automated Guided Vehicles (AGVs) is becoming more and more widespread in various industrial sectors, for example in retail storage warehouses where picking trolleys are used to replenish stock or to retrieve goods from the warehouse in response to customer orders. These vehicles use geoguidance technology to move autonomously and freely in environments without human intervention or external elements.

[0003] Autonomous vehicles are currently equipped with on-board batteries that are charged on a docking base or docking station. To limit human intervention for tasks such as battery charging, the autonomous vehicle is configured to determine the location of a docking station so that it can autonomously park at the docking station by guidance means.

[0004] These vehicles are guided, for example, by wires that impose fixed tracks and specific infrastructure. To avoid impeding the movement of the autonomous vehicles, the wires are usually buried under the floor of the working area, making their installation expensive. If installed on the surface, the wires can be damaged by the vehicle itself or by other machines moving in the working space. Also, if the location of the docking station is changed, the installation of the wires needs to be changed.

[0005] Another solution is to equip the docking station with beacons or laser beam emitters to guide the autonomous vehicle, but such technology also has many limitations.

[0006] Moreover, in factories and warehouses, operators and other vehicles may be in motion. It is therefore essential to be able to control the trajectory of the autonomous vehicle in such a dynamic environment, not only during the phase of performing its tasks, but also during the phase when the autonomous vehicle is moving towards the docking station to charge its batteries, in order to guarantee its correct operation while ensuring the safety of the moving operator. Conventional docking stations are not able to guide the movement of the autonomous vehicles and to stop them if an obstacle is detected along their trajectory. Safety information is processed by a radio-transmitted safety system that is separate from the docking station and requires its own power supply and a dedicated communication mode, thereby forming an architecture that is fragmented, relatively complex and expensive, and not suitable for installations that include multiple autonomous vehicles and multiple docking stations. Summary of the Invention [Problem to be solved by the invention]

[0007] The present disclosure aims to overcome these drawbacks by proposing a novel architecture for charging assemblies for autonomous vehicles that allows integrating and combining, in a single physical entity, location functions and functions for transmitting different types of information, in particular operational safety information. Such an architecture eliminates the need for multiple infrastructure requirements, unlike conventional solutions that require the equipment of a charger connected to a mains power source, stationary location beacons powered by, for example, an Ethernet network, and a radio-transmitting safety system.

[0008] Another object of the present disclosure is to propose a charging assembly which has smaller space requirements and lower final costs. [Means for solving the problem]

[0009] This disclosure improves the situation.

[0010] According to a first aspect of the present disclosure, a charging assembly for an autonomous vehicle is proposed, the charging assembly comprising: - a charging docking station configured to be fixedly positioned within a working area, the charging docking station including: a battery charger; a first operational safety monitor configured to generate and transmit operational safety information; and a first wireless communication transmitter configured to receive the operational safety information transmitted by the first operational safety monitor and to generate and transmit a safety frame including the operational safety information; - an autonomous vehicle configured to move within a working area, the autonomous vehicle including: a rechargeable electric battery electrically connectable to terminals of a battery charger; a second operational safety monitor connected to the rechargeable electric battery; and a second wireless communication transmitter configured to receive the safety frame including the safety information transmitted by a first wireless communication transmitter and to transmit the safety information to the second operational safety monitor, the second operational safety monitor configured to process the operational safety information; Includes.

[0011] According to one embodiment, the first wireless communication transmitter is configured to transmit position information of the docking station to the second wireless communication transmitter, and the vehicle further includes a navigation monitor configured to calculate a location of the vehicle relative to the charging docking station within the working area based on the position information.

[0012] According to one embodiment, an assembly includes a plurality of charging docking stations and a plurality of autonomous vehicles, each of the autonomous vehicles configured to receive position information originating from at least three of the charging docking stations in a working area to calculate a location of the autonomous vehicle by triangulation.

[0013] The features disclosed in the following paragraphs can be optionally implemented independently of each other or in combination with each other.

[0014] The first wireless communication transmitter and the second communication transmitter are wireless radio transmitters, and wireless communication between the first transmitter and the second transmitter is periodically established.

[0015] The first communication transmitter is configured to encapsulate safety information originating from the first operational safety monitor into safety frames, and the second communication transmitter is configured to de-encapsulate the safety frames to extract the safety information.

[0016] According to one embodiment, the first wireless communication transmitter and the second wireless communication transmitter are wireless radio transmitters and receivers configured to transmit and receive information. The communication between the two transmitters is bidirectional. Thus, the communication between the charging docking station and the vehicle is bidirectional.

[0017] According to one embodiment, the second wireless communication transmitter can be configured to transmit vehicle status information and location information of the vehicle within the work area to the first wireless communication transmitter. The vehicle status information can indicate, for example, that the motor is off and the vehicle is stationary. The vehicle status information can also indicate, for example, that the vehicle has been subjected to an impact.

[0018] According to another embodiment, the assembly further includes an emergency stop button connected to the first operational safety monitor.

[0019] According to one embodiment, the second operational safety monitor is configured to disconnect the power supply connection between the electric motor and the battery to stop the vehicle motor based on operational safety information originating from the charging docking station, or to activate a safety stop function of the vehicle motor based on operational safety information originating from the charging docking station.

[0020] Preferably, the assembly further comprises an electrical network suitable for powering said charging docking station.

[0021] According to another aspect, a method for managing the charging of an autonomous vehicle in a charging assembly as defined above is proposed, the method comprising the steps of: driving the moving autonomous vehicle toward a charging docking station within the working area based on location information transmitted by the at least one charging docking station; docking the vehicle at an associated charging docking station and charging the rechargeable battery; remotely stopping the autonomous vehicle upon receipt by the autonomous vehicle of operational safety information originating from the charging docking station; Includes.

[0022] According to one embodiment, the autonomous vehicle comprises: generating operational safety information by a first operational safety monitor; transmitting operational safety information from the first operational safety monitor to a first communication transmitter; encapsulating operational safety information in a safety frame by a first communication transmitter; transmitting a security frame from a first communication transmitter to a second communication transmitter; decapsulating the security frame by the second communication transmitter to extract the security information; transmitting safety information from a second communication transmitter to a second operational safety monitor; disconnecting a power supply connection between the vehicle motor and the battery to stop the motor; will be stopped accordingly.

[0023] Preferably, the safety information is generated by an emergency stop button connected to a first operational safety monitor of the charging docking station.

[0024] Further features, details and advantages will become apparent upon reading the following detailed description and examining the accompanying drawings. [Brief description of the drawings]

[0025] [Figure 1] FIG. 1 shows a schematic diagram of a charging assembly for an autonomous vehicle according to one embodiment, including a charging docking station and an autonomous vehicle. [Diagram 2] FIG. 2 shows a schematic diagram of a variation of a charging assembly for the autonomous vehicle of FIG. [Diagram 3] FIG. 1 shows a schematic diagram of another embodiment of a charging assembly including three charging docking stations and an autonomous vehicle. [Figure 4] 1 illustrates a method for managing charging according to one embodiment. [Diagram 5] 1 illustrates a method for managing a stop of an autonomous vehicle according to one embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] Elements that are the same or similar are provided with the same reference numbers in different figures.

[0027] In the context of this disclosure, "environment" means, for example, a warehouse, a production plant, or any other industrial space in which light vehicles travel.

[0028] In the context of the present disclosure, a lightweight autonomous vehicle that moves autonomously in an environment may be, for example, a handling trolley or any other mobile handling machine or an autonomous mobile robot.

[0029] In the context of this disclosure, "operational safety information" should be understood to mean a safety command requesting the vehicle to stop. This safety information is generated when the operator activates a stop button located on the docking station.

[0030] In the context of this disclosure, "location information" should be understood to mean a set of coordinates indicating the location of a docking station within a working area. This information is used to feed the vehicle's navigation algorithms to determine the vehicle's position relative to docking stations located within the working area through which the vehicle travels, so that the on-board computer of the moving autonomous vehicle can calculate a navigation trajectory for traveling toward a given docking station.

[0031] Referring to FIG. 1, a charging assembly 1 for an electric autonomous vehicle is shown according to one embodiment.

[0032] Such an assembly 1 includes, for example, a charging docking station 20 and an autonomous electric vehicle 10. The assembly may further include an electrical network 3 that supplies power to the docking station 20. The assembly is installed in a work area, for example a storage warehouse.

[0033] According to another embodiment shown in Fig. 3, the charging assembly 1 includes three docking stations 20 and an autonomous vehicle 10. The number of docking stations and the number of autonomous vehicles roaming within the working area are not limited. Preferably, each autonomous vehicle can be associated with at least three docking stations 20. The autonomous vehicle can operate within the working area, approach one of the stationary docking stations for charging purposes, and electrically connect to the terminals of the charger installed at the docking station.

[0034] The autonomous electric vehicle 10 typically includes one or more wheels coupled to electric motors, not shown in FIG. 1, for providing traction or propulsion to move the vehicle. The wheels may be omnidirectional drive wheels that move the vehicle forward or backward in a primary direction of travel associated with the vehicle, the direction of travel being perpendicular to the axis of rotation of the omnidirectional wheels. The wheels may be directional drive wheels. The wheels may be oriented by pivoting about a vertical pivot axis to steer the vehicle along its travel. Depending on the size and shape of the vehicle, the number of wheels, and the load distribution, several drive wheel configurations may be considered to ensure correct operation of the drive wheels.

[0035] According to an embodiment, each charging docking station 20 includes a battery charger 21 provided with two connection terminals 25, a first operational safety monitor 22 and a first wireless communication transmitter 23. The first operational safety monitor is configured to generate operational safety information and transmit the operational safety information to the first wireless communication transmitter 23. The first wireless communication transmitter 23 is configured to transmit the operational safety information and the docking station position information towards the vehicle 10. The first transmitter 23 is configured to generate a safety frame 4 including the received operational safety information and transmit the safety frame including the operational safety information towards the vehicle 10.

[0036] The vehicle 10 comprises a battery 11 for storing and discharging the energy required for the autonomous operation of the drive system, a second motion safety monitor 12 capable of processing safety information originating from the docking station in order to control the de-energization of the motor, and a second communication transmitter 13 configured to exchange data with the docking station. More precisely, the second transmitter 13 is configured to receive a safety frame 4 including motion safety information and position information transmitted by the first transmitter 23. The motion safety information is transmitted to the second motion safety monitor 12 for processing.

[0037] According to one embodiment, the first transmitter 23 and the second transmitter can be radio transmitters / receivers configured to transmit and receive information. Thus, the first transmitter 23 can, for example, transmit information towards the vehicle and receive information originating from the vehicle, and the second transmitter 13 can, for example, receive data originating from the charging docking station and transmit data towards the charging docking station. Thus, the communication between the charging docking station and the vehicle is bidirectional.

[0038] According to one embodiment, the vehicle further includes a navigation monitor 14 capable of processing position information originating from one or more docking stations in order to determine the location of the vehicle within the working area. The position information is transmitted to the navigation monitor 14 by a second transmitter 13.

[0039] According to one embodiment, the second motion safety monitor 12 is configured to generate vehicle status information and transmit the vehicle status information to the second communication transmitter 13. The navigation monitor 14 is configured to calculate location information of the vehicle within the working area and transmit the location information to the second wireless communication transmitter 13. The second wireless communication transmitter 13 is configured to transmit this vehicle status information and this location information to the first communication transmitter 23. The vehicle status information can indicate, for example, that the motor is off and the vehicle is stationary. The vehicle status information can also indicate, for example, that the vehicle has been subjected to an impact.

[0040] The vehicle battery 11 is equipped with two terminals 15 suitable for connection to terminals 25 of the station's battery charger 21 when the autonomous vehicle 10 is docked in the charging docking station 20.

[0041] According to one embodiment, the battery 11 comprises a rechargeable accumulator capable of storing and discharging the energy required for the autonomous operation of the drive system. According to one embodiment, the accumulator comprises a Ni-MH battery. According to another embodiment, the accumulator comprises a Li-ion battery.

[0042] Due to the presence of two communication transmitters 23, 13, a radio link 2 is periodically established between the vehicle 10 and the docking station 20 of the working area. Preferably, each vehicle communicates with at least one station of the working area. According to another embodiment, if the range of the radio link allows, each vehicle can communicate with all of the stationary docking stations present in the working area.

[0043] According to a particularly advantageous embodiment of the invention, the wireless communication link 2 between the first communication transmitter 23 and the second communication transmitter 13 allows for the transmission of position information and operational safety information of the docking station. Thus, in the example of Fig. 2, the transmitter 23 of the charging docking station 20 is configured to transmit position information and operational safety information of the associated station to the second transmitter 13 of the vehicle 10.

[0044] The operational safety information is generated by a first operational safety monitor 22 of the charging docking station 20 .

[0045] For example, with reference to Figure 2, the docking station may further include an emergency stop button 24 connected to an input of the first motion safety monitor 22. In case of an emergency, the operator may activate the emergency stop button, which sends a signal indicating the stopping of the vehicle to the first motion safety monitor 22, which generates a first item of motion safety information and transmits this first item of motion safety information to the first communication transmitter 23.

[0046] For this purpose, the communication transmitter 23 is adapted to encapsulate operational safety information to be transmitted to the vehicle in a wireless communication frame 4 so as to ensure the safety of the transmitted information.

[0047] The safety frame 4 is received by a second safety transmitter 13, which transmits the safety frame 4 to a second motion safety monitor 12 for controlling the motor of the vehicle. More precisely, the second transmitter 13 is configured to decapsulate the motion safety information originating from the transmitter before transmitting it to the second safety monitor.

[0048] The second motion safety monitor 12 is configured to command the stopping of the motor, in particular to stop the motor when the safety information indicates an emergency situation requiring the stopping of the motor.

[0049] The position information originating from the docking stations is processed by the navigation monitor 14, enabling the autonomous vehicle to determine its position within the working area relative to the docking stations and to calculate a trajectory for the vehicle to move towards a given docking station where it will charge its battery.

[0050] The navigation monitor 14 is configured to control navigation of the vehicle from docking station to docking station for charging purposes based on location information originating from one or more docking stations. The navigation monitor 14 can determine the position of the vehicle based on data transmitted by the docking stations in the working area by triangulation to calculate a trajectory that the vehicle in the working area should follow towards the associated charging docking station.

[0051] The safety and position information is therefore processed by two different monitors, a second operational safety monitor 12 and a navigation monitor 14 , both integrated in the vehicle 10 .

[0052] The second motion safety monitor 12 is coupled to a motor of the vehicle 10 and is configured to control the motor. The second motion safety monitor 12 can cut off the power supply to the motor to cancel torque to stop the vehicle.

[0053] A second motion safety monitor 12 is connected to a second communication transmitter 13 which receives safety frames originating from the docking station.

[0054] The navigation monitor 14 is connected to a second communication transmitter 13 which receives position information originating from the several docking stations, and to a second operational safety monitor 12 .

[0055] The ability of the charging docking station to provide power as well as transmit station location and safety information eliminates the need for multiple infrastructure requirements. The specific configuration of the charging assembly of the present disclosure serves three functions: Charging an autonomous vehicle; geolocating the autonomous vehicle relative to a docking station; exchanging safety information between a docking station stationary within a working area and the autonomous vehicle; It is possible to combine

[0056] In known solutions, the location function and the safety information are handled by separate modules. For example, the location function is provided by a stationary location beacon, powered for example by an Ethernet network. The safety information is transmitted by a radio-transmitting safety system, which requires its own power supply and a dedicated communication mode. Thus, numerous modules and infrastructure requirements have to be met in order to provide all three functions.

[0057] With reference to FIG. 4, the various steps of implementing a method for charging an autonomous vehicle using the charging assembly of FIG. 1 will now be described.

[0058] When the vehicle 10 detects that its battery charge level requires charging, or has completed its assigned operations, the vehicle 10 navigates to find a charging docking station.

[0059] In a location determination step 110, a transmitter 13 installed on an autonomous vehicle 10 operating within a working area receives location information originating from a transmitter 23 installed on a docking station 20. Preferably, the vehicle receives location information originating from three docking stations.

[0060] The location information is transmitted from the vehicle by a second transmitter 13 to the navigation monitor 14 and processed to determine the geographic position of the autonomous vehicle 10 within a working area relative to the docking station 20. Based on the vehicle's geographic position, the navigation monitor 14 determines the trajectory the vehicle should take towards the docking station 20 to charge the battery.

[0061] In a docking and charging step 120, the vehicle 10 moves along a trajectory determined by the navigation monitor 14 to approach a docking station 20 for docking and charging its battery. The vehicle 10 moves until the terminals 15 of the battery 11 are connected to the terminals 25 of the station charger 21. Charging is performed autonomously. Circuitry inside the docking station detects the established connection between the vehicle and the station charger and starts charging at its terminals 25.

[0062] In a step 130 of stopping the vehicle, safety information can be generated and transmitted to the autonomous vehicle by the first motion safety monitor 22 of the docking station while the vehicle is moving towards the docking station. This safety information indicates, for example, a command to stop the vehicle. In response to the safety information, the second motion safety monitor 12 cuts off the power supply of the electric motor of the vehicle 10 to immobilize the vehicle or activates a safety function (e.g., STO: Safe Torque Off, SS1: Safe Stop, or SBC: Safe Brake Control) to stop the motor.

[0063] With reference to FIG. 5, an embodiment of an emergency stop of a vehicle will now be described in further detail.

[0064] In step 131, an emergency stop command is triggered, for example by an emergency stop button 24 connected to a safety input of the station. The operational safety monitor 22 of the station generates operational safety information.

[0065] In step 132 , the first operational safety monitor 22 of the station transmits operational safety information to the first communication transmitter 23 .

[0066] In step 133 , the operational safety information is encapsulated in a safety frame 4 by the first communication sender 23 .

[0067] In step 134, the safety frame 4 is transmitted by the first transmitter 23 of the station to the second transmitter 13 of the vehicle.

[0068] In step 135 , the security frame 4 is decapsulated by the second communication transmitter 13 and the operational security information is extracted from the security frame by the second communication transmitter 13 .

[0069] In step 136 , the second transmitter 13 transmits the safety information to the second operational safety monitor 12 .

[0070] In step 137, the second motion safety monitor 12 cuts off power to the vehicle motor in response to the received safety information.

[0071] By integrating operational safety monitors directly in the docking station and in the autonomous vehicle, the charging assembly of the present disclosure provides several functions, namely: the ability to charge autonomous vehicles; a geographic location of the vehicle that enables the autonomous vehicle to determine its position relative to a station and navigate to a selected station for charging; a safety feature that allows the vehicle to be stopped remotely without the operator having to physically approach the vehicle and activate an emergency stop button located on the vehicle; It combines:

[0072] The solution proposed by the present disclosure makes it possible to monitor in an optimal and safe way a work or production station equipped with several autonomous vehicles, by endowing the docking station with the ability to remotely stop vehicles operating in the work area. [Industrial Applicability]

[0073] The technical solution can be used in various industrial applications, such as the automotive industry, the agri-food industry and the logistics industry, for charging industrial handling trolley type machines for transporting spare parts or items between work stations or work units in order to optimize the logistics flow while maintaining operator safety. [Explanation of symbols]

[0074] 1 Charging Assembly 2. Wireless Link 3. Electricity Network 4 Safety Frame 10 Autonomous Electric Vehicles 11 Battery 12 Secondary motion safety monitor 13 Second wireless communication transmitter 14 Navigation Monitor 15 Terminals 20 Charging Docking Station 21 Battery Charger 22 First Operational Safety Monitor 23 First wireless communication transmitter 24 Emergency stop button 25 Terminals

Claims

1. A charging assembly (1) for an autonomous vehicle, comprising: a charging docking station (20) configured to be fixedly placed within a working area, the charging docking station (20) comprising: a battery charger (21); a first operational safety monitor (22) configured to generate and transmit operational safety information; and a first wireless communication transmitter (23) configured to receive the operational safety information transmitted by the first operational safety monitor (22) and to generate and transmit a safety frame including the operational safety information; an autonomous vehicle (10) configured to move within the working area, the autonomous vehicle (10) comprising: a rechargeable electric battery (11) electrically connectable to terminals of the battery charger (21); a second operational safety monitor (12) connected to the rechargeable electric battery (11); and a second wireless communication transmitter (13) configured to receive the safety frame including the operational safety information transmitted by the first wireless communication transmitter (23) and to transmit the operational safety information to the second operational safety monitor (12), the second operational safety monitor (12) being configured to process the operational safety information; A charging assembly (1) for an autonomous vehicle comprising:

2. 2. The assembly of claim 1, wherein the first wireless communications transmitter (23) is configured to transmit position information of the charging docking station (20) to the second wireless communications transmitter (13), and the autonomous vehicle (10) further includes a navigation monitor (14) configured to calculate a location of the autonomous vehicle relative to the charging docking station (20) within the working area based on the position information.

3. 3. The assembly of claim 2, wherein the charging assembly includes a plurality of charging docking stations (20) and a plurality of autonomous vehicles (10), each autonomous vehicle (10) configured to receive position information originating from at least three of the charging docking stations (20) in the working area to calculate a location of the autonomous vehicle by triangulation.

4. 4. The assembly of claim 1, wherein the first wireless communication transmitter (23) and the second wireless communication transmitter (13) are wireless radio transmitters, and wireless communication between the first wireless communication transmitter and the second wireless communication transmitter is established periodically.

5. 5. The assembly of claim 4, wherein the first wireless communication transmitter (23) and the second wireless communication transmitter (13) are wireless radio transmitters and receivers configured to transmit and receive information.

6. 6. The assembly of claim 5, wherein the second wireless communication transmitter (13) is configured to transmit vehicle state information and location information of the autonomous vehicle to the first wireless communication transmitter (23).

7. 7. The assembly of claim 1, wherein the first wireless communication transmitter (23) is configured to encapsulate the operational safety information originating from the first operational safety monitor (22) in a safety frame (4), and the second wireless communication transmitter (13) is configured to decapsulate the safety frame (4) to extract the operational safety information.

8. 8. The assembly according to claim 1, further comprising an emergency stop button (24) connected to the first operational safety monitor (22).

9. 9. The assembly according to claim 1, wherein the second operational safety monitor (12) is configured to disconnect a power supply connection between an electric motor and the rechargeable electric battery (11) to stop the vehicle motor based on operational safety information originating from the charging docking station (20) or to activate a safety stop function of the vehicle motor based on operational safety information originating from the charging docking station (20).

10. 10. The assembly according to any one of the preceding claims, further comprising an electrical network (3) suitable for powering the charging docking station (20).

11. A method (100) for managing charging of an autonomous vehicle in a charging assembly (1) according to any one of claims 1 to 10, comprising: - driving (110) said mobile autonomous vehicle (10) towards a charging docking station (20) within a working area based on position information transmitted by at least one charging docking station; - docking (120) the autonomous vehicle at the associated charging docking station and charging the rechargeable electric battery; remotely stopping (130) the autonomous vehicle upon receipt by the autonomous vehicle of operational safety information originating from the charging docking station; A method (100).

12. The autonomous vehicle includes: - generating (131) operational safety information by said first operational safety monitor; - transmitting (132) operational safety information from said first operational safety monitor to said first wireless communication transmitter; - encapsulating (133) said operational safety information in a safety frame by said first wireless communication transmitter; - transmitting (134) said security frame from said first wireless communication transmitter to said second wireless communication transmitter; - decapsulating (135) said safety frame by said second wireless communication transmitter to extract said operational safety information; - transmitting (136) said operational safety information from said second wireless communication transmitter to said second operational safety monitor; - disconnecting (137) the power supply connection between the vehicle motor and the rechargeable electric battery in order to stop the motor; The method of claim 11, wherein the step of determining whether the first priority is exceeded is stopped (130) according to

13. The method according to claim 11 or 12, wherein the operational safety information is generated by an emergency stop button connected to the first operational safety monitor of a charging docking station (20).

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