Handling machine equipped with an environment data detection system, and corresponding detection kit

Abstract

The invention relates to an assembly with a handling machine (1) and a removable environment detection system (700). The machine (1) comprises a handling system and a processing unit (10). The detection system (700) comprises a sensor (710), a processing unit (720) and a communication module (730) capable of communicating with a communication module (130) of the machine. The processing unit determines the position of the sensor (710) and activates an additional control function of the machine on the basis of the data from the sensor (710).

Description

Description Title of the invention: HANDLING MACHINE EQUIPPED WITH AN ENVIRONMENTAL DATA DETECTION SYSTEM, AND CORRESPONDING DETECTION KIT

[0001] FIELD OF INVENTION

[0002] The present invention relates generally to load or person handling machines equipped with an environmental data detection system.

[0003] EARLIER ART

[0004] We know the state of the art of handling machines equipped with cameras to detect the condition of the ground in front of the machine.

[0005] However, it is desirable to be able to enable a material handling machine to benefit from environmental data detection capabilities with improved reliability and limited cost.

[0006] The present invention aims to provide a new machine equipped with an environmental data detection system, and a corresponding detection kit to overcome at least some of the problems described above.

[0007] SUMMARY OF THE INVENTION

[0008] To this end, the invention relates to an assembly comprising a load or person handling machine, and an environmental data detection system, said detection system being positioned on the machine, said handling machine comprising: - a rolling chassis, and a ground-moving drive system for the machine; - a load or person handling system, carried by said chassis, and an actuation system, such as jacks, for the handling system; - a processing unit, such as a computer, of the machine configured for to control the machine's ground-based drive system and the handling system's actuation system; characterized in that the detection system is removable from the machine, and comprises: - a machine environment data sensor system; - a processing unit; - a first communication module configured to communicate with a second communication module; and in that the machine's processing unit and / or the detection system's processing unit is configured to: - determine the positioning state of the sensor system by comparing an actual position of the sensor system, determined from data acquired by said sensor system, with a reference position, and - activate a machine control function, called an additional function, depending on the positioning state of the sensor system, said additional function taking into account the data acquired by the sensor system of the detection system.

[0009] The system's removability allows for the selective equipping of different machines with the same system, thus reducing costs. Furthermore, verifying the positioning of the detection system on the machine ensures proper operation of the entire system, comprised of the machine and the environmental data detection system.

[0010] The detection system allows the machine's capabilities to be increased by enabling the machine, at least when the sensor system is properly positioned, to implement an additional function, such as autonomous or guided movement for climbing / descending ramps on a trailer platform, the implementation of said additional function using data acquired by the sensor system, such as the image of the ramps acquired by a camera forming part of the sensor system.

[0011] The said assembly may also include one or more of the following characteristics taken in any technically permissible combination.

[0012] According to one embodiment, when the actual position of the sensor system is within a first range of given position values, then the processing unit activates said additional function.

[0013] According to one embodiment, when the actual position of the sensor system is outside the first range of position values, but within a second range of position values ​​wider than the first range, then the processing unit activates said additional function while limiting a parameter of said additional function and / or limiting a machine operating parameter, such as travel speed, and, when the actual position of the sensor system is outside the second range of position values, then the processing unit prevents the activation of said additional function.

[0014] According to one embodiment, the sensor system of the detection system comprises at least one of the following elements: - an image acquisition camera, for example a mono or stereoscopic camera; - a time-of-flight (TOF) camera, - a LIDAR-type device, - a RADAR, - an ultrasonic sensor.

[0015] According to one embodiment, said at least one additional function comprises a function from the following list of functions: - detection of ramps from a trailer present in front of the machine, - detection of objects and people around the machine, - detect an accessory at the end of the handling system, for example the end of a lifting arm, - provide the operator with a top-down image of the machine.

[0016] According to one embodiment, the determination of the positioning state of the sensor system is carried out: - by acquiring a reference element present on or in the machine, such as a TAG, target, QR CODE, which defines a reference position for said sensor system; -by recognizing a structural element of the machine, such as a tire or chassis, and / or by recognizing an element in the machine's external environment; and / or - using an inclinometer present in the detection system and a comparison of the measured value of the inclinometer of the detection system with a chassis inclination value measured by an inclinometer of the machine.

[0017] According to one embodiment, when said sensor system includes an optical sensor, said detection system is configured to adjust the brightness of said optical sensor, for example in the direction of a decrease in the brightness of the image acquired by the sensor in the event of detection of a reflection.

[0018] According to one embodiment, the operations for determining the positioning state of the sensor system are implemented in the processing unit of the detection system.

[0019] According to one embodiment, the detection system also includes a safety device, called a bumper, comprising an inductive or mechanical proximity sensor, and a control system configured to stop the machine's movements if an obstacle is detected at a distance less than a given distance.

[0020] According to one embodiment, said detection system being called first detection system, said assembly includes a second detection system, said determination of the positioning state of the sensor system of the first detection system includes the determination of the positioning of the first sensor system relative to the sensor system of the second detection system.

[0021] According to one embodiment, the sensor system is positioned outside the perimeter defined by a set of wheels of the machine, preferably on the front or rear side of the machine.

[0022] According to one embodiment, the sensor system includes a sensor directed towards the ground support plane of the wheels and towards the outside of the machine.

[0023] According to one embodiment, the processing unit of the machine and / or the detection system is configured to: - based on the data from the detection system, detect at least one longitudinal edge of one or each ramp of a transport trailer, - to control the drive system by moving the machine on the ground to make the machine go up the ramp or each ramp and position it on a platform of the trailer located in the extension of the ramp or each ramp, autonomously, according to at least one longitudinal edge of the ramp or each ramp of the trailer detected using said detection system.

[0024] According to one embodiment, the machine being equipped with a front detection system and a rear detection system, the processing unit of the machine and / or the detection system is configured to: - detect the longitudinal edges of the ramps and confirm the chassis alignment or command the realignment of the machine chassis with respect to the detected ramps according to said detection systems, and - control the drive system in motion and wheel steering accordingly.

[0025] According to one embodiment, the processing unit is configured to use data from the rear detection system when, during an automatic climb of the machine onto the trailer platform, the ramp or ramps are no longer within the detection range of the front detection system, to enable the processing unit to continue to detect the longitudinal ramp edge or edges of the trailer and control the drive system in movement and wheel steering accordingly.

[0026] According to one embodiment, the detection system is electrically connected to the machine to be powered by a battery of the machine.

[0027] According to one embodiment, the machine is a gondola.

[0028] According to one embodiment, the environmental data detection system includes a connection system which includes a physical connector connectable with a corresponding connector of the machine to establish communication between the communication module of the machine and the communication module of the environmental data detection system.

[0029] In one embodiment, the operations for determining the positioning state of the sensor system are implemented in the processing unit of the detection system. Alternatively, these operations can be implemented in the processing unit (for example, an electronic control unit, or ECU) of the machine, but implementation in the detection system is preferred to avoid adding to the cost of the standard machine.

[0030] The invention also relates to a detection kit configured to equip a handling machine with an assembly conforming to any one of the preceding embodiments of the invention, the detection kit forming said removable detection system, said kit comprising a housing, a system for attaching the housing to a part of the machine, and, housed in the housing, at least: - said environmental data sensor system; - the processing unit; - the first communication module configured to communicate with the second communication module of the machine.

[0031] BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Other features and advantages of the invention will become apparent from the following description, which is purely illustrative and not limiting and should be read in conjunction with the accompanying drawings, on which:

[0033] - [Fig. 1] Figure 1 is a schematic side view of a lifting arm handling machine equipped with an environmental data detection system according to an embodiment of the invention;

[0034] - [Fig. 2] Figure 2 is a schematic view of an environmental data detection system fixed on a handling machine, and configured to communicate with said handling machine according to an embodiment of the invention;

[0035] - [Fig. 3] Figure 3 is a schematic perspective view of a nacelle-type lifting arm handling machine, equipped with an environmental data detection system according to an embodiment of the invention;

[0036] - [Fig. 4] Figure 4 is a partial schematic view of a lifting arm handling machine of the platform type, equipped with an environmental data detection system according to an embodiment of the invention, the detection system allowing the machine to be fitted with an automatic or guided raising and / or lowering function on the ramps of a trailer.

[0037] DETAILED DESCRIPTION

[0038] Embodiments are described below with reference to the accompanying drawings. Similar numbers refer to similar features in all drawings. However, the invention can be implemented in many different forms and should not be construed as being limited to the embodiments shown here. The scope of the invention is defined by the accompanying claims.

[0039] A reference throughout the specification to "an embodiment" means that a particular feature, structure, or characteristic described in relation to an embodiment is included in at least one embodiment of the present invention. Thus, the appearance of the phrase "in an embodiment" in various places 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.

[0040] A 700 environmental data detection system, also called a kit, is proposed, designed for removable mounting on a load or personnel handling machine. The environmental data to be detected is data about the machine's environment, for example, an object or person in the vicinity of the machine.

[0041] It can be foreseen that the machine is one which, when it leaves the factory, is devoid of the data detection system, and for which a program is implemented in the processing unit, such as an ECU, of the machine to communicate with the data detection system which is removably brought onto the machine. Preferably, the same kit can be used selectively on different handling machines, or even on different types of handling machines.

[0042] Handling machine

[0043] The handling machine 1 can be of the platform type as illustrated in Figure 3 or of the telescopic arm trolley type as illustrated in Figure 1, or of another type, for example a mast trolley.

[0044] The handling machine 1 comprises a rolling chassis 2 supported on the ground by means of a front axle 3 and a rear axle 4.

[0045] The handling machine 1 includes a motorized system for moving the machine on the ground. The motorized system for moving the machine includes, for example, an electric motor and / or an internal combustion engine, and a wheel transmission and steering control system for directing the movement of the machine.

[0046] The rolling chassis 2 carries a handling system 600 and an actuation system allowing the handling system to be moved relative to the chassis 2. The handling system 600 in Figure 1 is a load handling system, but can be a person handling system like the one illustrated in Figure 3.

[0047] In the illustrated examples, the handling system includes an arm 6, usually called a lifting arm, articulated to the rolling chassis 2 so that it can be moved between a lowered position and a raised position. In the case of a mast truck, the handling system includes a mast equipped with a system of forks that slide along the mast.

[0048] The handling machine includes a processing unit 10 (also called a control unit), including for example a computer, which allows the operator, via a human-machine interface (which may include a control device, such as a joystick) to control the handling machine, and in particular to control the movement of the machine and / or the handling system, such as the position of the arm 6.

[0049] In the example in Figure 1, the rolling chassis 2 includes a cabin 20 with a door allowing an operator to enter the cabin 20 to operate the machine. The machine may include a display screen 13 visible to the operator. In the example in Figure 3, an operator can operate the machine from the platform 614 equipped with a control panel.

[0050] The lifting arm 6 (or handling arm) is mounted on the chassis 2 and can be oriented around an axis of rotation (rotation axis referenced as 7 in Figure 1). In particular, this axis of rotation 7 is horizontal when the rolling chassis 2 is resting on a horizontal surface. The arm 6 projects forward from the front of the machine. In one embodiment, the axis of rotation 7 is closer to the rear axle than to the front axle of the machine. The arm 6 can also be mounted on a turret T2 as illustrated in Figure 3.

[0051] The handling system, such as the arm 6, is equipped with a load or person handling device. In the example shown in Figure 1, the handling device includes a load carrier 14, such as a fork or bucket system, articulated to the arm 6 by a linkage 15 and configured to carry a payload 9. In the example in Figure 3, the handling device includes a platform 614 equipped with a machine control panel.

[0052] In the example illustrated in Figure 1 or 3, arm 6 is of the telescopic type. Arm 6 thus 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.

[0053] As illustrated, for example, in Figure 1, the arm actuation device includes, in particular, a lifting actuator, for example, a hydraulic cylinder 8, which allows the arm 6 to be moved up and down around the horizontal axis 7, under the control of a control system. Alternatively, the lifting actuator may be an electric cylinder. The control system may include at least one control device 12, such as a joystick, or a control panel 612 that communicates with the processing unit 10 of the machine.

[0054] The processing unit 10 can be configured to control the lifting actuator, for example via a hydraulic circuit (not shown), depending on the operator's input to the control system.

[0055] The hydraulic circuit may include a hydraulic pressure source and a hydraulic distributor interposed between the hydraulic pressure source and a solenoid valve controlling the hydraulic cylinder 8. The solenoid valve controlling the hydraulic cylinder 8 may be controlled by the processing unit 10.

[0056] Alternatively, the handling machine can be fully electric.

[0057] The handling machine includes one or more sensors, for example a position sensor of at least one part of the handling system, to provide signals enabling the processing unit 10 to analyze the signals from the sensors.

[0058] It can be anticipated that the machine's sensor(s) will include all or some of the following sensors: - a sensor for the angle of the lifting arm 6; - a sensor for the position of the handling device, such as the angle of inclination of the tool holder or the tool; - a sensor for the extension length of the arm, or for the retracted or extended state of the arm, when said arm is telescopic.

[0059] The sensor(s) may of course include other sensors to measure different machine parameters, for example a tilt sensor (longitudinal and / or lateral) of the machine, and / or a sensor to determine the mass of a load carried by the handling system.

[0060] As mentioned above, the handling machine is also equipped with a 700 environmental data detection system which includes a sensor system.

[0061] Detection system

[0062] A schematic embodiment is shown in Figure 2. The detection system 700 includes a housing 701 which houses a sensor system 710 and a processing unit 720. A mechanical fixing system 500 allows the housing 701 to be mechanically connected to the machine.

[0063] Advantageously, the 700 environmental data detection system also includes a 570 electrical connection, preferably wired, to the machine for the power supply of said detection system 700, in particular the power supply of the sensor system 710 and the processing unit 720.

[0064] The 700 environmental data determination system includes a first communication module 730, also called the pairing module, configured to communicate with a corresponding second communication module 130 of the machine, to allow the processing unit 720 of the 700 determination system to communicate with the processing unit 10 of the machine, also called the ECU (for Electronic Control Unit).

[0065] The processing unit 720 of the environmental data determination system 700 and the processing unit 10 of the machine 1 can thus communicate with each other via the data link 520 (wired or radio), for example all or part of the following data: data acquired by the sensor system 710, data relating to the control of the machine's ground movement system, data relating to the control of the machine's handling system, data relating to the state of communication between the two units (pairing data of the communication modules).

[0066] Communication between the processing units 720 and 10 via the communication modules 730 and 130 can be achieved wirelessly (e.g., using a Bluetooth protocol) or via a wired connection using a connector that allows connection to a machine communication bus, preferably a fieldbus, such as a CAN bus. Alternatively, the environmental data sensing system can include a connection system with a physical connector that can be connected to a corresponding connector on the machine to establish communication between the machine's communication module and the communication module of the environmental data sensing system.

[0067] As mentioned above, the machine's processing unit 10, such as a computer, is the central unit of the machine which allows the control of the machine's ground movement drive system and the actuation system of the handling system.

[0068] As an example and as illustrated in Figure 3, the mechanical fixing system 500 of the environmental data detection system may include an arm, for example in the shape of an L, having at one end a receiving housing for a housing which houses said sensor system 710 and the processing unit 720 as well as the communication module 730. The other end of the arm may be provided with a mechanical connection device to the machine, for example of the screw and nut type.

[0069] Detection kit

[0070] The detection system can be supplied as a kit to be mounted at a specific location on the machine. It is possible for the same kit to be mounted at different locations on the machine. A machine can therefore be configured to accommodate several kits, i.e., several detection systems in different, preferably predefined, locations on the machine.

[0071] In the case of multiple kits, each kit may include elements common to all kits. The kits can be modular. For example, a kit might include a housing containing an assembly comprising the sensor system, the processing unit with its corresponding communication module, and this assembly, possibly including the housing itself, which could be identical from one kit to another. However, the first kit might include a different mounting system for the housing than the second kit. The housing can also be designed to be removable from the mounting system, allowing the selection of the appropriate sensor system for the desired function from among various options, and thus enabling the adaptation of a housing containing the appropriate components (sensor system, processing unit, communication module) to the mounting system.

[0072] The kit may thus include a housing 701, a mounting system 500 for attaching the housing 701 to a part of the machine, for example, the chassis. The housing 701 contains the environmental data sensor system 710, the processing unit 720, and the first communication module 730 configured to communicate with the machine's second communication module 130. Preferably, the kit includes a power supply connection 570 for This allows the enclosure to be connected to a machine power source, such as the machine's battery, to power the electronic components housed within it, such as the sensor system, processing unit, and communication module. Alternatively, the kit may include a machine-independent power supply, such as a battery, preferably with a self-contained power source, such as a solar panel.

[0073] Sensor system of the detection system

[0074] The 710 sensor system includes one or more sensors.

[0075] It can be anticipated that the sensor system 710 of the detection system 700 will include at least one of the following: - an image acquisition camera, for example a mono or stereoscopic camera; - a time-of-flight (TOF) camera, - a LIDAR-type device, - a RADAR, - an ultrasonic sensor.

[0076] Function of the detection system

[0077] The processing unit 10 of machine 1 and / or the processing unit 720 of the detection system 700 is configured to perform the following operations: - determine the positioning state of sensor system 710 by comparing an actual position of sensor system 710, determined from data acquired by said sensor system, with a reference position, and - activate a machine control function, called an additional function, depending on the positioning state of the sensor system 710, (i.e. depending on the result of the comparison).

[0078] This additional function takes into account the data acquired by the sensor system 710 of the detection system 700.

[0079] In the event of inappropriate positioning, it can be expected that communication between the two communication modules or between the processing units will be disabled. In other words, the pairing between the data determination system and the machine is inactivated.

[0080] Sensor system positioning status

[0081] The determination of the positioning state of the 710 sensor system can be carried out in different ways which may or may not be combined in whole or in part depending on the level of accuracy and the additional function desired.

[0082] According to one embodiment, the determination of the positioning state of the sensor system 710 is carried out by acquiring a reference element present on or in the machine, such as a TAG, target, QR CODE, which defines a reference position for said sensor system, and allows the comparison of the measured position with the reference position.

[0083] According to one embodiment, the determination of the positioning state of the sensor system 710 is carried out by recognizing a structural element of the machine, such as a tire, a part of the chassis and / or by recognizing an element in the external environment of the machine.

[0084] According to one embodiment, the determination of the positioning state of the sensor system 710 is carried out using an inclinometer present in the detection system 700 and a comparison of the measured value of the inclinometer of the detection system 700 with a chassis inclination value measured by an inclinometer of the machine 1 (which serves as an orientation reference).

[0085] Result of the comparison between the reference position and the measured position

[0086] The operations presented previously, as well as those described below, relating to the detection of the detection system's position, can be implemented in the machine's processing unit or in that of the environmental data detection system. Preferably, the operations are implemented in the detection system's processing unit. It is understood that some parts of the operations can be implemented in the machine's processing unit and other operations can be implemented in the environmental data detection system's processing unit.

[0087] According to one embodiment, when the actual position of the sensor system 710 is within a first given range of position values, the processing unit activates said additional function. In particular, said additional function can be activated without any functional restriction on the additional function itself or on the machine.

[0088] It can also be anticipated that when the actual position of the sensor system 710 is outside the first range of position values, but within a second, wider range of position values ​​than the first, then the processing unit 10, 720 activates said additional function while limiting a parameter of said additional function and / or limiting a machine operating parameter, such as the travel speed. In this case, the positioning state of the sensor system is considered average but acceptable as long as a function limitation is applied.

[0089] Furthermore, when the actual position of the sensor system 710 falls outside the second range of position values, the processing unit 10, 720 prevents the activation of the aforementioned additional function. The positioning state is considered unacceptable. Communication between the detection system 700 and the handling machine can then be deactivated.

[0090] Alternatively, it can be provided that as soon as the actual position of the sensor system is outside the first range of position values, then the processing unit prevents the activation of said additional function and / or cuts off communication between the machine and the detection system 700.

[0091] Calibration

[0092] It can be anticipated that when the sensor system includes a sensor, such as a camera, and the sensor's positioning is offset from a reference position, but the field of view acquired by the sensor retains a portion useful for implementing an additional function, the processing unit (of the machine and / or the detection system) can command the computer recalibration of the sensor system by limiting the field of view used to the relevant portion of the field of view. In the event of a deviation from the reference position, while remaining within an acceptable deviation range, the control unit is configured to update the sensor reference and activate the additional function, possibly in a degraded mode of the additional function itself and / or the machine control.

[0093] According to one embodiment of the invention, when said sensor system 710 comprises an optical sensor, said detection system 700 is configured to adjust the brightness of said optical sensor, for example, by reducing the brightness of the image acquired by the sensor when a reflection is detected, for example, when the machine is ascending a metal ramp. Such an adjustment improves the quality of image data acquisition by the sensor system.

[0094] Additional function

[0095] said at least one additional function may include one or more functions from the following list of functions: - detection of ramps 81 of a trailer present in front of the machine; - Object and person detection around the machine: the environmental data detection system enables reliable detection, particularly to determine the location of a detected person relative to the machine, allowing for appropriate alerts and / or actions on the machine, such as applying a brake, limiting machine speed, or preventing turret rotation if necessary. This function is useful for addressing visibility issues encountered with material handling equipment; - detect an accessory at the end of the handling system, for example the end of a lifting arm. The sensor system must be correctly oriented to reliably detect the accessory; - provide a top-down image of the machine to the operator. The sensor system may include a sensor at the end of the arm (arrow) and / or on the sides of the machine to reconstruct a top-down image of the machine to be provided to the operator.

[0096] It is understood that the removable nature of the detection system requires a position check of the sensor system and possibly a Electronic and / or computer recalibration of the sensor system position. Recalibration of the sensor system position may include redefining the theoretical area of ​​interest, for example by redefining the orientation and / or position of the theoretical area of ​​interest of the data acquired by the sensor.

[0097] In a preferred embodiment, at least some of the operations are implemented in the detection system. Advantageously, the operations related to the additional function are implemented in the detection system to limit the cost of the machine itself.

[0098] Processing units

[0099] Each processing unit is presented, 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.

[0100] In other words, the functions and steps described can be implemented as a computer program or via hardware components (e.g., programmable gate networks).In particular, the functions and steps performed by the machine's processing unit and / or the detection system, notably for controlling the movement system or handling, or for controlling an additional function, or for recalibrating the sensor system, can be carried out by instruction sets or computer modules implemented in a processor or controller, or by dedicated electronic components or components such as field-programmable gate arrays (FPGAs) or application-specific integrated circuits (ASICs). It is also possible to combine computer and electronic components.

[0101] The control unit is thus an electronic and / or computer unit. When it is specified that said unit is configured to perform a given operation, this means that the unit includes computer instructions and the corresponding means of execution which enable said operation to be carried out and / or that the unit includes corresponding electronic components.

[0102] Location of the detection system

[0103] The detection system can be fixed to a location on the machine so that the sensor system 710 is positioned outside the perimeter defined by the wheel assembly 3, 4 of the machine, preferably on the front or rear side of the machine.

[0104] It can be anticipated that the 710 sensor system includes a sensor directed towards the ground support plane of the wheels and towards the outside of the machine 1.

[0105] It can be anticipated that the 710 sensor system includes a sensor directed towards the accessory at the end of the boom, for example at the end of the boom oriented towards the location of the accessory or towards the locking axes of the attachment apron of the accessory.

[0106] To detect people, it can be anticipated that the 710 sensor system will include a sensor or set of sensors directed forward or backward, to one or more sides, and / or under the arrow (towards the ground).

[0107] Multiple detection systems

[0108] A first detection system 700 and a second detection system 700' can be provided. The positioning state of the sensor system 710 of the first detection system 700 can be determined based on the positioning of the sensor system of the second detection system 700'. As illustrated in Figures 3 and 4, it is possible to provide one detection system 700, 700', 700", 700" per wheel.

[0109] Safety device

[0110] In one embodiment, the 700 detection system also includes a safety device, called a bumper, comprising an inductive or mechanical proximity sensor, and a control system. The control system is configured to stop the machine's movements if an obstacle is detected at a distance less than a specified distance. The safety device prevents damage to the detection system and / or the machine.

[0111] Mounting on ramps

[0112] An example application is shown below in the case of a function to assist the raising or lowering of the machine relative to a trailer platform equipped with ramps, using the 700, 700' sensor systems (Figure 4), but it also applies with the use of the 700”, 700'” sensor systems.

[0113] After verifying the correct positioning of each 700, 700' sensor system, the additional function of assisting with climbing or descending on a ramp is enabled by the processing unit 10 or 720 for the machine equipped with the detection system.

[0114] The processing unit 10, 720 of the machine and / or detection system is configured to: - based on the data from the detection system 700, detect at least one longitudinal edge 811 of one or each ramp 81 of a transport trailer, - to control the drive system by moving the machine on the ground to make the machine go up onto the ramp or each ramp 81 and position it on a platform 82 of the trailer located in the extension of the ramp or each ramp 81, autonomously, according to at least one longitudinal edge 811 of the ramp or each ramp 81 of the trailer 80 detected using said detection system 700.

[0115] According to one embodiment of the invention, the machine is equipped with a 700' front detection system and a 700 rear detection system; the processing unit 10, 720 of the machine and / or the detection system is then configured to: - detect the longitudinal edges 811 of the ramp and confirm the alignment of the chassis or command the realignment of the chassis 2 of the machine with respect to the ramps 81 detected according to said detection systems 700, 700', and - control the drive system in motion and wheel steering accordingly.

[0116] The processing unit 10, 720 of the machine and / or the detection system can be configured to use data from the rear detection system 700 when, during an automatic ascent of machine 1 onto the platform 82 of the trailer, the ramp or each ramp 81 is no longer in the detection field of the forward detection system 700', to allow the processing unit 10, 720 to continue to detect the longitudinal ramp edge or edges 811 of the trailer and to control the drive system in movement and wheel steering accordingly.

[0117] It can be anticipated that when the power supply is provided by the machine and the activation of the additional function is prevented, it can also be anticipated that the power supply to the detection system will be cut off to save energy.

[0118] The invention is not limited to the embodiments illustrated in the drawings.

[0119] Furthermore, the term "including" does not exclude other elements or steps. In addition, features or steps described with reference to one of the embodiments set out above may also be used in combination with other features or steps from other embodiments set out above.

Claims

Demands

1. Assembly comprising a load or person handling machine (1), and an environmental data detection system (700), said detection system (700) being positioned on the machine, said handling machine (1) comprising: - a rolling chassis (2), and a ground-moving drive system for the machine; - a load or person handling system (600), carried by said chassis (2), and an actuation system (8), such as jacks, of the handling system; - a processing unit (10), such as a computer, of the machine configured to control the machine's ground-based drive system and the handling system's actuation system; characterized in that the sensing system (700) is removable from the machine, and comprises: - a machine environment data sensor system (710); - a processing unit (720); - a first communication module (730) configured to communicate with a second communication module (130); and in that the processing unit (10) of the machine (1) and / or the processing unit (720) of the detection system (700) is configured to: - determine the positioning state of the sensor system (710) by comparing an actual position of the sensor system (710), determined from the data acquired by said sensor system, with a reference position, and - activate a machine control function, called an additional function, depending on the positioning state of the sensor system (710), said additional function taking into account the data acquired by the sensor system (710) of the detection system (700).

2. Assembly according to claim 1, wherein, when the actual position of the sensor system (710) is within a first range of given position values, then the processing unit (10, 720) activates said additional function.

3. Assembly according to claim 1 or 2, wherein when the actual position of the sensor system (710) is outside the first range of position values, but within a second range of position values ​​wider than the first range, then the processing unit (10, 720) activates said additional function while limiting a parameter of said additional function and / or limiting a machine operating parameter, such as travel speed, and, when the actual position of the sensor system (710) is outside the second range of position values, then the processing unit (10, 720) prevents the activation of said additional function.

4. Assembly according to any one of the preceding claims, wherein the sensor system (710) of the detection system (700) comprises at least one of the following: - an image acquisition camera, for example a mono or stereoscopic camera; - a time-of-flight (TOF) camera, - a LIDAR-type device, - a RADAR, - an ultrasonic sensor.

5. Assembly according to any one of the preceding claims, wherein said at least one additional function comprises a function from the following list of functions: - detection of ramps (81) of a trailer present in front of the machine, - detection of objects and people around the machine, - detect an accessory at the end of the handling system, for example the end of a lifting arm, - provide the operator with a top-down image of the machine.

6. Assembly according to any one of the preceding claims, wherein the determination of the positioning state of the sensor system (710) is carried out: - by acquiring a reference element present on or in the machine, such as a TAG, target, QR CODE, which defines a reference position for said sensor system; -by recognizing a structural element of the machine, such as a tire or chassis, and / or by recognizing an element in the machine's external environment; and / or - using an inclinometer present in the detection system (700) and a comparison of the measured value of the inclinometer of the detection system (700) with a chassis inclination value measured by an inclinometer of the machine (1).

7. Assembly according to any one of the preceding claims, wherein, where said sensor system (710) includes an optical sensor, said detection system (700) is configured to adjust the brightness of said optical sensor, for example in the direction of a decrease in the brightness of the image acquired by the sensor in the event of detection of a reflection.

8. Assembly according to any one of the preceding claims, wherein the operations for determining the positioning state of the sensor system (710) are implemented in the processing unit (720) of the detection system (700).

9. Assembly according to any one of the preceding claims, wherein the detection system (700) also includes, a safety device, called bumper, comprising an inductive or mechanical proximity sensor, and a control system configured to command the stopping of machine movements in the event of detection of an obstacle at a distance less than a given distance.

10. Assembly according to any one of the preceding claims, wherein, said detection system being referred to as first detection system (700), said assembly comprises a second detection system (700'), said determination of the positioning state of the sensor system (710) of the first detection system (700) comprises the determination of the positioning of the first sensor system relative to the sensor system of the second detection system (700').

11. Assembly according to any one of the preceding claims, wherein the sensor system (710) is positioned in outside the perimeter defined by a set of wheels (3, 4) of the machine, preferably on the front or rear side of the machine.

12. Assembly according to any one of the preceding claims, wherein the sensor system (710) comprises a sensor directed towards the ground contact plane of the wheels and towards the outside of the machine (1)-

13. Assembly according to any one of the preceding claims, wherein the processing unit (10, 720) of the machine and / or detection system is configured to: - based on the data from the detection system (700), detect at least one longitudinal edge (811) of one or each ramp (81) of a transport trailer, - control the drive system by moving the machine on the ground to make the machine go up onto the ramp or each ramp (81) and position it on a platform (82) of the trailer located in the extension of the ramp or each ramp (81), autonomously, according to at least one longitudinal edge (811) of the ramp or each ramp (81) of the trailer (80) detected using said detection system (700).

14. Assembly according to claim 13, wherein, the machine being equipped with a front detection system (700') and a rear detection system (700), the processing unit (10, 720) of the machine and / or the detection system is configured to: - detect the longitudinal edges (811) of the ramp and confirm the alignment of the chassis or command the realignment of the chassis (2) of the machine with respect to the ramps (81) detected according to said detection systems (700, 700'), and - control the drive system in motion and wheel steering accordingly.

15. Assembly according to claim 14, wherein the processing unit (10, 720) is configured to use data from the rear detection system (700) when, during an automatic ascent of the machine (1) onto the trailer platform (82), the ramp(s) (81) is no longer within the detection range of the front detection system (700), to allow the processing unit (10, 720) to continue detecting the longitudinal edges (811) of the trailer ramp and to control the drive system in movement and steering of the wheels accordingly.

16. Assembly according to any one of the preceding claims, wherein the detection system (700) is electrically connected (570) to the machine to be powered by a battery of the machine.

17. Assembly according to any one of the preceding claims, wherein the machine (1) is a gondola.

18. Assembly according to any one of the preceding claims, wherein the environmental data sensing system comprises a connection system which includes a physical connector connectable with a corresponding connector of the machine to establish communication between the communication module of the machine and the communication module of the environmental data sensing system.

19. A detection kit configured to equip a handling machine (1) with an assembly conforming to any one of the preceding claims, the detection kit forming said removable detection system (700), said kit comprising a housing (701), a system for attaching the housing (701) to a part of the machine, and, housed in the housing (701), at least: said environmental data sensor system (710); the processing unit (720); the first communication module (730) configured to communicate with the second communication module (130) of the machine.

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