Safety control method for an automated cart having an adaptive virtual bumper

Abstract

The present invention describes a control method for a safety system of an automated cart, the method activating a virtual bumper if a risk of collision is detected. This virtual bumper, the shape of which is modulated and which extends in a peripheral zone, is controlled by a decision module according to the charge transfer phases. Three main states are defined: - E1 (depositing on the ground), activated in the event of a shape recognition failure or when the gripping means is in an intermediate position; - E2 (picking up from the ground), activated in the event of positive shape recognition and when the gripping means is in the low position; and - E3 (picking up or depositing at height), activated when the gripping means is in the high position or an intermediate position with positive shape recognition. A state E4 covers situations not provided for by these criteria, ensuring safety and adaptability.

Description

Safety control method for automated trolley with adaptive virtual bumper Scope of the invention

[0001] The present invention relates to the field of automated guided vehicles (AGVs), and in particular to autonomously moving forklift trucks, and to the operational safety of such vehicles, equipped with safety sensors to provide information to a computer controlling movement while ensuring that risks to humans, machines, and loads are limited.

[0002] These automated trolleys are equipped with a safety system that includes front, rear and side detection zones, as well as gripping means position sensors to adjust the safety system's behavior when necessary.

[0003] Such AGVs operate continuously within a warehouse, alternating between periods of movement along the aisles, where the key safety concern is to reliably bring the AGV to a preventive stop to avoid any risk of collision with a person or object. To achieve this, the AGVs are equipped with virtual bumpers that define a safety perimeter around the AGV's chassis, on a horizontal surface positioned a few tens of centimeters above ground level. Any detection of an object within this safety perimeter triggers the immediate and unconditional preventive stop of the AGV. During approaches to the loading area, this "radical" detection becomes problematic, as certain situations involve parts of the loading area or the load penetrating the surface of this virtual bumper.Three options are then possible: either we temporarily inhibit the virtual bumper to avoid false alerts and immobilizations, but in this case we take the risk of a collision with a person, or we add means of recognizing the nature of the object present in the safety perimeter in order to differentiate the behavior of the system, but this requires very complex algorithms often incompatible with the levels of safety and reliability required, or we reduce the dimensions of the perimeter of the virtual bumper, but then we reduce the level of safety.

[0004] The field of the invention relates more particularly to the optimization of the safety of automated vehicles during load transfer phases during which it is currently common to partially inhibit safety to avoid unexpected stops related to the detection of the load or surrounding structural elements in the safety perimeter. State of the art

[0005] Patent application WO2023192280 describes an example of an autonomous mobile robot that may include a processor configured to use exteroceptive and proprioceptive information. The processor can use exteroceptive information to guide the robot. The processor can use proprioceptive information to guide the robot's manipulation of an object in its environment.

[0006] Patent application EP4296215 describes a self-propelled transport system for transporting pallets and / or openwork crates, comprising a receiving device for receiving the pallet and / or openwork crate, a drive unit and a control device, and a data processing unit and obstacle detection means. The first detection unit is designed to generate a monitoring field to scan a free storage area for the pallet and / or openwork crate among other pallets and / or openwork crates for the presence of obstacles. The control device is designed to command the drive unit so that, in the absence of obstacles, the transport system enters a storage mode and moves the pallet and / or openwork crate to be stored within the free storage area.

[0007] The obstacle detection device is designed to deactivate the monitoring field or not emit an obstacle detection signal during movement across the open storage area, at least until the pallet and / or open-sided crate is placed on the open storage area. Alternatively, the data processing unit is designed to ignore an obstacle detection signal from the obstacle detection device during movement across the open storage area, at least until the pallet and / or open-sided crate is placed on the open storage area.

[0008] US patent application 2022260999 describes another example of an obstacle detection device comprising a position and posture detector; a detection no-go zone setter; a detection no-go zone setter; and an obstacle detector. The position and posture detector detects the position and posture of an object. The detection no-go zone setter defines an obstacle detection no-go zone within which the object is undetectable as an obstacle based on the position and posture detected by the position and posture detector. The detection no-go zone setter determines an obstacle detection no-go zone within which the object is detectable as an obstacle based on the obstacle detection no-go zone defined by the no-go zone setter.The obstacle detector detects the obstacle within the permitted obstacle detection zone determined by the permitted detection zone setter. The detection no-go zone setter defines an area enclosing the object as the obstacle detection no-go zone. Disadvantages of prior art

[0009] Prior art solutions are not entirely satisfactory. They fail to reconcile absolute safety in all configurations, particularly during pallet loading or unloading, where the vehicle must approach racking to within a safe perimeter, with a work area where forks can enter to deposit or remove a pallet, which may be at ground level or elevated. This area cannot be completely secured by prior art solutions because they must be deactivated to allow movement in a space where the possibility of a living obstacle surreptitiously entering and posing a risk cannot be ruled out.

[0010] Existing solutions do not provide any functional structuring of the virtual bumper into logical control states, nor any conditional combination involving both the position of the gripping device and the recognition of a station or load. The problem is to avoid unexpected shutdowns or safety deactivations during load transfers in configurations with disrupted detection (proximity, obscuring load, etc.). Solution provided by the invention

[0011] To overcome these drawbacks, the present invention relates to a method for controlling the safety system of an automated trolley, consisting of generating a preventive safety stop signal in the event of detection of a risk of collision with a person. This method consists of activating a virtual bumper extending into a peripheral zone of said trolley, at least during the trolley's movement phase, such that: During all phases of load transfer, the geometric shape of the peripheral zone of the virtual bumper is modulated and controlled by a decision module which, upon receiving a load transfer instruction (LTR), delivers a state selected from three states corresponding to E1 (lowering to the ground), E2 (picking up from the ground), and E3 (picking up or lowering at height).depending on: the position of the gripping means; the recognition by laser scanning of a shape representative of a loading / unloading station or a load and the relative position of said shape with respect to said trolley. State E1 (lowering to the ground) is activated a) in case of failure of the shape recognition and b) when the gripping means is in an intermediate position, between the lower and upper positions. State E2 (picking to the ground) is activated a) in case of successful shape recognition and b) when the gripping means is in the lower position. State E3 (picking or lowering at height) is activated in the case where a) the gripping means are in the upper position or (exclusively) b) in the case where b1) the gripping means are in an intermediate position and b2) the shape recognition is successful. At least one state E4 corresponding to another situation.

[0012] States E1 to E4 correspond to distinct functional cases (ground lifting, ground removal, intermediate or overhead intervention). The shape of the safety field is modulated according to the activated state. This decision-making architecture is unique and enables contextual safety without inhibition.

[0013] According to various implementations: the geometric shape of the virtual bumper's peripheral zone includes a rear field whose length, in the direction of the gripping means, varies depending on the trolley's position relative to the reference position recorded at the time the load transfer instruction (LTR) is received. The "Reference position recorded at the time the load transfer instruction (LTR) is received" corresponds to the initial position of the maneuver. This principle is quite common in mobile systems equipped with navigation or localization systems (odometry, lidar, encoders, etc.), which allow the AGV to know its current position relative to a recorded starting position. The recorded reference position corresponds to the trolley's initial position at the beginning of a transfer cycle, determined, for example, by the triggering of the LTR signal.Optionally, said geometric shape of the peripheral zone of the virtual bumper further includes two lateral fields, the length of which, measured in the direction of the gripping means, varies according to the position of the trolley relative to the reference position recorded at the time of receipt of the LTR load transfer instruction so as to ensure that the opening between the lateral fields and the pick-up / drop-off zone always remains less than 30 centimeters in the direction of travel throughout the maneuver.

[0014] According to particular embodiments: when state E1 is active, the shape of said back field is controlled to evolve between several configurations, namely: An initial shape where the horizontal back field covers the length and width of said load-gripping means and the supported load where applicable; a modified shape where the length and width of said horizontal field are adjusted to exceed the length of said load-gripping means and the supported load where applicable, to include at least part of the placement space of said load, said modified shape being periodically adapted according to the movement of said automated trolley to cover the horizontal surface below the gripping means or the lower surface of the carried load, extending to the end of the placement space and preserving an unattended interval of less than 30 centimeters.When state E1 is active, the shape of said rear field is controlled to evolve between several configurations, namely: An initial shape where the horizontal rear field covers the length and width of said load-gripping means and the supported load if applicable; a modified shape where the length and width of said horizontal field are adjusted to exceed the length of said load-gripping means and the supported load if applicable, to include an additional band in front of the carried load, maintained during the movement of the trolley until said additional band covers the entire deposit area.When state E2 is active, the shape of said rear field is controlled to evolve between several configurations, namely: An initial shape where the horizontal rear field covers the length and width of said load-gripping means; a modified shape where the length and width of said horizontal field are adjusted to exceed the length of said load-gripping means, the length of the area not covered by said virtual bumper, between the trolley and the load to be picked up, being less than 30 centimeters. Said modified shape is periodically adapted according to the movement of said automated trolley to cover the horizontal surface above the gripping means, so as to guarantee that the length of the area not covered by said virtual bumper, between the trolley and the load to be picked up, remains less than 30 centimeters throughout the maneuver.When state E3 is active, the shape of said rear field is controlled to evolve between several configurations, namely: An initial shape where the horizontal rear field covers the length and width of said load-gripping means and the supported load where applicable; A modified shape where the length and width of said horizontal field are adjusted to exceed the length of said load-gripping means, the length of the area not covered by said virtual bumper, between the trolley and the pick-up or drop-off station, being less than 30 centimeters.The said modified shape being periodically adapted according to the movement of the said automated trolley to cover the horizontal surface below the gripping means or the lower surface of the load carried as appropriate, so as to ensure that the length of the area not covered by the said virtual bumper, between the trolley and the pick-up or drop-off station, remains less than 30 centimeters throughout the maneuver.

[0015] Optionally, the total distance travelled towards the pick-up or drop-off zone, from the receipt of said LTR load transfer instruction, is monitored to limit the movement of said automated mobile cart to a distance threshold corresponding to the total length of said load plus a safety distance of less than 1 meter and to command the securing of said cart in the event of exceeding this distance threshold.

[0016] According to a particular variant, the process also provides a state E4, corresponding to a safety shutdown of said automated trolley, the state E4 being activated upon receipt of an instruction requesting an LTR load transfer, when none of the states E1, E2 or E3 has been activated,

[0017] Advantageously, when state E1 is activated and the vertical position of said load-gripping means is changed to the lowered position after a delay exceeding the acquisition period of said detection means, from said activation, and the distance traveled during said delay by said autonomous trolley is less than 20 cm, said second detection field is inhibited. Detailed description of a non-limiting example of an embodiment

[0018] The present invention will be better understood upon reading the following description, concerning a non-limiting example of an embodiment illustrated by the accompanying drawings where:

[0019] The figure represents a schematic view of a forklift according to the invention

[0020] The figure represents a schematic view of a decision-making module of a forklift according to the invention.

[0021] The figure represents a schematic view of an embodiment of the forklift according to the invention during the ground placement stage

[0022] The figure represents a schematic view of an embodiment of the forklift according to a variant of the invention during the ground placement stage

[0023] The figure represents a schematic view of an embodiment of the forklift according to the invention during the ground-picking stage

[0024] The figure represents a schematic view of an embodiment of the forklift according to the invention during the step of picking up or dropping off at height. General context of automated guided vehicles (AGVs)

[0025] In an area where automated guided vehicles (AGVs) operate, such as a factory or warehouse, there is always a risk of collision with a person, or an object that has fallen into an area of ​​movement of the AGV or of placement / deposition of a load or pallet.

[0026] To avoid such situations, AGV trucks are equipped with intelligent safety systems and scanners (1 to 3) defining in a plane located a few centimeters from the ground a safety zone forming a virtual bumper around the AGV, configurable to form an alert envelope surrounding the AGV and the forks, with a front band of width LAV, a rear band of width LARR and lateral detection zones (103).

[0027] The system's security architecture is a distributed architecture with: A warehouse supervision level with message transmissions without security considerations; A pallet transfer control level managed by the AGV's safety controller, which receives messages from the warehouse supervisor and transmits messages to the local controller; A local level dedicated to security sequences and local decisions, exploiting information from the sensors equipping the AGV.

[0028] As soon as a person or object enters this alert zone, the security system triggers an immediate shutdown, which may or may not be reversible automatically depending on the system's programming.

[0029] The invention is distinguished by its management of third-level safety, the local level, during critical periods of load picking or unloading, when the local safety system can be disrupted by the proximity of storage equipment and the movement of gripping devices, which may intermittently obscure the sensors' field of vision. The invention consists of evaluating different states based on the position of the gripping device (for example, the forks of a forklift) to control appropriate settings for the safety system and the virtual bumper. This differentiated processing ensures that the systematic triggering of the safety system is maintained in the event of penetration of the virtual bumper, without requiring inhibition of the safety system during transfer phases, nor necessitating complex recognition of the object that may enter the space delimited by the virtual bumper.

[0030] Hardware architecture of the cart according to the invention

[0031] Automated guided vehicles (AGVs) are used in an automated logistics warehouse, controlled by an intelligent system commanding movement to transfer loads, including pallets and the operations of picking up and dropping off the load by a gripping means, for example a pair of forks (111, 112) positioned by the lifting mast of a gripping means.

[0032] The invention is not limited to automated trolleys whose gripping means consists of a pair of forks, but the following description will refer to such an embodiment by way of non-limiting example.

[0033] The self-guided trucks consist of a motorized chassis (100) equipped at the rear (i.e. in the direction of the load and the placement / deposition space) with a mast (110) ensuring the vertical positioning of the forks (111, 112) intended for the taking / deposition and transfer of the pallets (104).

[0034] The sensors are, for example, laser scanners described in patent EP2927711B1 and marketed by SICK under the reference EFI1, for instance. They are resistant to sunlight, environmental factors, dirt, and dust. These sensors (1 to 3) perform scanning in a plane with a maximum angle of approximately 275°, which can be configured to "shape" the contour template (150). These sensors (1 to 3) provide information according to a binary "presence" or "absence" security protocol in the scanned area, or a geometric protocol, in the form of a set of coordinates of the points defining the intersection profile between an object and the scanned plane.

[0035] The template can be configured according to different criteria, for example the context of use of the AGV, its life phase, its speed of movement in speed steps) or other contextual elements.

[0036] The laser scanner (2) on the side of the charge pickup and delivery scans over approximately 200° an area (201) of substantially rectangular shape.

[0037] The two front laser scanners (1, 3) scan an area (103) in a general L shape, with a lateral and a transverse band, overlapping in the rear median area. The scanning plane of each scanner is, as in the general case, below the level of the forks, and above the ground level.

[0038] As it approaches the racking, the safety system commands the modification of the contours used by the rear laser scanners (1, 3) to define a new rear contour of triangular shape, having an outer longitudinal edge, parallel to the front-rear axis, a depth exceeding the front edge of the fork loaded with a pallet by 10 to 300 mm, and a width determined to preserve between the two areas an unscanned zone corresponding approximately to the surface of a pallet.

[0039] Alternatively, this second mode can be ensured by dedicated sensors, the security system activating these dedicated sensors and limiting the scanning angle of the rear laser scanners (1, 3). General principle of the invention

[0040] The invention relates to a control method for the local security system of an automated trolley equipped with a load-gripping means, during periods of load deposit or pickup, which corresponds to the automated trolley receiving a load transfer instruction from a site management server.

[0041] The local security system uses information from contactless sensors to monitor several areas around the forklift: Detection Zones: Initial lateral detection zones (103) monitor the horizontal space on each side of the forklift. A second zone monitors the space around the gripping device at a height of less than 40 cm, referred to as Height HD. Station and Load Recognition: A recognition device detects loading / unloading stations or loads, emitting a distinct signal depending on the presence of a station / load.

[0042] The gripping device can move between several positions: PS (ground position), PB (low position), PI (intermediate position), PH (high safety position above 150 cm to avoid any contact with people).

[0043] The system uses this data to activate different safety states: E1: Pallet placed on the ground. E2: Pallet picked up from the ground. E3: Picked up or placed at height.

[0044] Furthermore, an E4 state activates the safety mechanism if no other state is appropriate. The detection zones are dynamically adapted according to the grip position and the trolley's movements to minimize risks while maintaining accurate monitoring of the areas around the trolley.

[0045] Characterization of the position of the grasping means

[0046] One of the important features of the invention is the characterization of the position of the load-gripping means, according to three discrete categories, mutually exclusive:

[0047] a position P S : when said load-gripping means is located at a height lower than said height HD

[0048] a position P B when said load-gripping means is located at a height between said height P S and a height where the lower part of a load supported by said load-gripping means is above said height HD, such that said load-gripping means and / or the load can intersect said horizontal plane at height HD

[0049] an intermediate position P i : when said gripping means is at a height between said position P B and a high position P Hsuch that said load-gripping means and / or the load cannot intersect said horizontal plane at height HD

[0050] a high position P H : position located at a safety height greater than 150 centimeters where the lower part of a load supported by said load-handling means cannot strike a person

[0051] The information defining the discretized position of the load-gripping means is calculated based on the signals delivered by the sensors

[0052] The determination of the position category of a load-gripping means based on the positions PS, PB, Pi, and PH can be achieved by a decision-making system illustrated by the vertical position detection and comparison of the instantaneous height of the load-gripping means to predefined height thresholds.

[0053] The PS position is defined when the gripping means is at a height lower than a reference height HD.

[0054] The detection system checks if the current height is below HD; if so, the position is categorized as PS. The PB position corresponds to a height range between the PS height (therefore above HD) and a height where the bottom of the load is just above HD.

[0055] To identify PB, the detection system must verify if the current height is between the height thresholds corresponding to PS and HD, and that the load intersects or is close to the horizontal plane at height HD. This type of detection includes an additional validation to verify that the gripping means or the load intersects the horizontal plane at HD.

[0056] The intermediate position Pi is located between the PB position and the high position PH. The detection system identifies Pi when the current height is greater than that of PB but less than the safety height PH.

[0057] The high position PH corresponds to a safety height above 150 cm, where the load is at the safest level and cannot hit a person.

[0058] The detection system categorizes this position when the current height exceeds the threshold of 150 cm.

[0059] For these measurements, vertical position sensors can be used, either binary (such as ultrasonic, infrared, or inductive sensors) or proportional (such as ultrasonic, infrared, laser, or encoder distance sensors). The AGV controller processes this data in real time to compare the measured heights to predefined thresholds to determine the position category. This process enables rapid and reliable classification of the gripping device's position according to specified criteria. Decision-making module

[0060] The AGV includes a decision-making module illustrated in the figure. This decision logic module includes a computer (50) that dynamically adjusts the automated truck's protection zones based on fork position, contour detection, and lateral intrusions. It ensures continuous adaptation to guarantee safety during loading and movement operations. It relies on detecting the positions of the forks and surrounding loads to adapt its actions safely.

[0061] During the autonomous vehicle's travel phases, a transfer activation module (51) monitors the reception of a digital LTR load transfer message issued by the AGV's guidance computer, typically a pulse signal. Before receiving such a load transfer message, the autonomous vehicle operates in Travel Mode. If an obstacle is detected within the safety perimeter, the vehicle is brought to a preventive safety stop.

[0062] When this transfer activation module (51) receives an LTR message, the computer (50) of the decision module carries out processing to take into account the information (52) relating to the position of the gripping means in order to influence the operation of the protection, for example with protection under the gripping means and activation of lateral fields to prevent intrusions into these areas.

[0063] The autonomous vehicle includes a shape recognition system (53), generally consisting of a scanning laser (LIDAR) that generates a point cloud of the type (angle, distance) used to determine whether an object within the scanned field and located in a profile recognition zone (107) belongs to a loading station or a load. This profile recognition zone (107) corresponds to an angular restriction of the scanned volumetric field, oriented in the direction of the gripping means, with a depth determined according to the expected distance to the loading zone, with a tolerance of approximately ±2 to ±20 centimeters. The expected distance is known through the geolocation and guidance systems of the AGV.

[0064] This recognition method delivers a DS signal validetaking a binary value depending on whether in the profile recognition area (107) the point cloud conforms to the signature of a loading station or to the signature of a load, or not.

[0065] Information (52) regarding the position of the gripping means (Position PS, Position PB, Position Pi, or Position PH) and information (53) regarding the detection of an identifiable contour influence the decisions. For example, if the gripping means are at ground level with a detected contour, the system authorizes the load-taking operation.

[0066] If the gripping means are in motion without a detected contour, this triggers an error or a rejection of the load transfer command for safety reasons.

[0067] In non-compliant cases, a command (54) inhibits automatic restart after safety shutdown to prevent movement errors during load picking or dropping operations.

[0068] The computer (50) of the decision-making module delivers a command for one of the three protection modes, adapted to the context of the autonomous trolley at the time of receiving the load transfer command.

[0069] The computer (50) of this decision module therefore delivers information that can take three states E1, E2, E3 and an indeterminate state E4.

[0070] State E1 is activated upon receipt of an LTR load transfer request instruction, when: the height determined by said means for detecting the vertical position of said load-gripping means corresponds to position P iand the signal delivered by said means of discrimination for the recognition of a charging / discharging station or a load, is of the DS type indéterminé

[0071] State E2 is activated upon receipt of an LTR load transfer request instruction when: the height determined by said detection means of the vertical position of said load-gripping means corresponds to position PS, and the signal delivered by said discrimination means for recognizing a charging / discharging station or a load is of type DS valide

[0072] State E3 is activated upon receipt of an LTR load transfer request instruction when: the height determined by said means for detecting the vertical position of said load-gripping means corresponds to position PH; or the height determined by said means for detecting the vertical position of said load-gripping means corresponds to position P. i and the signal delivered by said means of discrimination for the recognition of a charging / discharging station or a load, is of the DS type valide

[0073] State E4 is activated in other cases, particularly in the event of an anomaly. Dynamic protection adaptation

[0074] The invention consists of controlling a modification of the dynamic protection based on the state of the signal delivered by the decision-making computer (50). The figure illustrates the different situations.

[0075] Depending on the state of the gripping devices and the dynamic fields activated by the decision-making module, the truck adapts its side and under-fork guards. For example, when the forks are in the lowered position, the dynamic fields under the forks are activated to detect potential obstacles.

[0076] In summary, this decision-making logic dynamically adjusts the automated forklift's protection zones based on fork position, contour detection, and lateral intrusions. It ensures continuous adaptation to guarantee safety during loading and transport operations. Ground drop situation

[0077] The figure illustrates the situation of dropping the load at ground level, that is to say in a context where the means of gripping the load carried (101) is in an intermediate position, at a height where the means of gripping and / or the load (101) cannot obscure the field of vision of the safety scanner (2).

[0078] The safety zone detected by the sensors (1, 2 and 3) includes the lateral safety fields (103) and a safety field (102) that passes under the load (101) and the gripping system, as well as a profile recognition zone (107). The safety field (102) extends beyond the profile recognition zone (107). Ground-level socket situation

[0079] The figure illustrates the load-picking situation at ground level, that is, in a context where the load-gripping device picks up a load (104) from ground level. There is no obstruction to the field of vision of the safety scanner (2). The safety zone detected by the sensors (1, 2, and 3) includes the lateral safety fields (103) and a safety field (105) that passes over the gripping system without interfering with the load (101), as well as a profile recognition zone (107). Situation of picking up or dropping off at height

[0080] The figure illustrates the situation of picking up or setting down the load (104) at a height, that is, in a context where the load-gripping device retrieves a load (104) at a height that avoids obscuring the field of vision of the safety scanner (2). The safety zone detected by the sensors (1, 2, and 3) includes the lateral safety zones (103) and a safety zone (106) that passes under the load (101) and the gripping system, as well as a profile recognition zone (107). Verification and protection of dynamic zones:

[0081] The lateral zones (103) are monitored according to different intrusion levels, from -100 mm up to -1000 mm or more depending on the length of the load and the gripping means. These protection zones gradually decrease as the forklift moves forward.

Claims

Method for controlling the safety system of an automated vehicle, which consists in generating a preventive safety stop signal in case of detection of a risk of collision with a person, this method consisting in activating a virtual shock absorber extending in a peripheral zone of said vehicle, at least during the movement phase of said vehicle, characterized in that - During all the phases of transfer of a load, the geometric shape of the peripheral zone of the virtual shock absorber is modulated and controlled by a decision-making module which, upon receipt of a load transfer instruction LTR, delivers a state selected from three states corresponding to E1 of ground deposition, E2 of ground pickup and E3 of pickup or deposition at height, depending on: the position of the movable gripping means between a position PS (ground position), a position PB (low position), a position PI (intermediate position),And a PH position (high safety position above 150 cm to avoid any contact with people), of the recognition by laser scanning of a representative shape of a loading / unloading station or of a load and of the relative position of said shape with respect to said cart - The E1 state of depositing on the ground being activated a) in case of failure of shape recognition and b) when the gripping means is in an intermediate position, between said low position PB and said high position PH - The E2 state of gripping on the ground being activated a) in case of positive shape recognition and b) when the gripping means is in the low position - The E3 state of gripping or depositing at height being activated in the case where a) the gripping means are in the high position or (exclusive) b) in the case where b1) the gripping means are in the intermediate position and b2) the shape recognition is positive - At least one E4 state corresponding to another situation., A method for controlling the safety system of an automated vehicle according to claim 1, characterized in that said geometric shape of the peripheral zone of the virtual fender includes a rear field, the length of which, in the direction of the gripping means, varies according to the position of the vehicle relative to the reference position recorded at the time of receiving the load transfer instruction LTR. Method for controlling the safety system of an automated vehicle according to the preceding claim, characterized in that said geometric shape of the peripheral zone of the virtual fender further comprises two lateral fields, the length of which, measured in the direction of the gripping means, varies as a function of the position of the vehicle relative to the reference position recorded at the time of receiving the load transfer instruction LTR, so as to ensure that the opening between the lateral fields and a pick-up / drop-off zone always has a length less than 30 centimeters in the direction of movement throughout the manoeuvre. A method for controlling the safety system of an automated vehicle according to claim 1 or 2, characterized in that, when the state E1 is active, the shape of said rear field is controlled to evolve between several configurations, namelyAn initial shape where the horizontal rear field covers the length and width of said load handling means and of the load supported if anya modified shape where the length and width of said horizontal field are adjusted to exceed the length of said load handling means and of the load supported if any, to include at least a part of the storage space of said load, said modified shape being adapted periodically according to the displacement of said automated vehicle to cover the horizontal surface below the handling means or the lower surface of the load carried,extending to the end of the storage space and maintaining an unsupervised gap less than 30 centimeters., A method for controlling the safety system of an automated cart according to claim 1 or 2, characterized in that, when the state E1 is active, the shape of said rear field is controlled to evolve between several configurations, namelyAn initial shape where the horizontal rear field covers the length and width of said load handling means and the load supported if anya modified shape where the length and width of said horizontal field are adjusted to exceed the length of said load handling means and the load supported if any, to include an additional strip in front of the carried load, maintained during the movement of the cart until said additional strip covers the entirety of a storage area. Method for controlling the safety system of an automated vehicle according to claim 1 or 2, characterized in that, when the state E2 is active, the shape of said rear field is controlled to evolve between several configurations, namelyAn initial shape where the horizontal rear field covers the length and width of said load handling meansA modified shape where the length and width of said horizontal field are adjusted to exceed the length of said load handling means, the length of the area not covered by said virtual shock absorber, between the vehicle and the load to be picked up, being less than 30 centimeters.Said modified shape is adapted periodically according to the displacement of said automated carriage to cover the horizontal surface above the gripping means, so as to ensure that the length of the area not covered by said virtual shock absorber, between the carriage and the load to be picked up, remains less than 30 centimeters during the entire operation. Method for controlling the safety system of an automated vehicle according to claim 1 or 2, characterized in that, when state E3 is active, the shape of said rear field is controlled to evolve between several configurations, namelyAn initial shape where the horizontal rear field covers the length and width of said load handling means and of the load supported if anyA modified shape where the length and width of said horizontal field are adjusted to exceed the length of said load handling means, the length of the area not covered by said virtual shock absorber, between the vehicle and the pick-up or drop-off station, being less than 30 centimeters.Said modified shape is periodically adapted according to the displacement of said automated carriage so as to cover the horizontal surface below the gripping means or, if applicable, the lower surface of the load carried, so as to ensure that the length of the zone not covered by said virtual shock absorber, between the carriage and the pick-up or drop-off station, remains less than 30 centimetres throughout the manoeuvre. Method for controlling the safety system of an automated cart according to any one of the preceding claims, characterized in that the total distance traveled towards a loading or unloading area, since the reception of said load transfer instruction LTR, is monitored to limit the displacement of said automated mobile cart to a distance threshold corresponding to the total length of said load increased by a safety distance less than 1 meter and to command the safety of said cart in case of exceeding this distance threshold. Method for controlling the safety system of an automated cart according to claim 1, characterized in that said method further provides an E4 state, corresponding to the safety of said automated cart, the E4 state being activated at the time of reception of a load transfer request instruction LTR, when none of the E1, E2 or E3 states has been activated, A method for controlling the safety system of an automated vehicle according to any one of claims 1 to 4, characterized in that, when the state E1 is activated and the vertical position of said load gripping means is changed to the low position after a delay greater than an acquisition period of said detection means, starting from said activation, and the distance traveled during said delay by said autonomous vehicle is less than 20 cm, said second detection field is inhibited.

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