EP4053069B1 - Method for controlling lifting of a suspended load in the event of an emergency stop - Google Patents

Description

The invention relates to a control method for controlling the lifting of a suspended load by means of a lifting winch incorporating a drum on which a lifting cable coupled to the suspended load is wound.

It relates more particularly to a control method which aims to avoid winding faults of the lifting cable which can occur when an emergency stop is activated during a rise of the suspended load.

In known manner, a lifting winch, also called a cable winch, comprises a cable drum around which a lifting cable is wound, where the drum is rotated by means of a motor in two opposite directions of rotation for a winding/unwinding of the lifting cable on the drum, thus controlling the lifting of the suspended load up and down.

The D1 document CN106586865A discloses a control method for controlling the lifting of a suspended load by means of a lifting winch incorporating a drum on which is wound a lifting cable coupled to the suspended load, the control method measures a mass parameter representative of a mass of the suspended load, measurement of a lifting speed representative of a speed of movement of the suspended load, up and down, and included in a speed range limited to a maximum speed and monitoring of 'an emergency stop which, once activated, cuts off at least the lifting winch and stops the lifting of the suspended load and which, once deactivated, authorizes the lifting winch to be put back into service.

The invention finds a preferred, and non-limiting, application for a crane-type lifting device, and in particular a tower crane, an element-mounted crane, an automated assembly crane, a port crane and a mobile crane. In a crane application, the suspended load is generally suspended on a boom, and in particular on a distribution trolley moving along such a boom, to raise and lower it relative to the boom.

The invention can also find applications in transport devices such as cable cars and elevators, and in other types of lifting devices such as gantry cranes.

In order to improve the productivity of load lifting operations, it is now known to use lifting winches of the high lifting performance winch type, called "HPL", which make it possible to have, in comparison with generation winches previous, very high lifting speeds at low load when going up and down, such as for example a lifting speed of around 200 m/min, or even beyond.

However, the applicant observed that, if during a rise of the suspended load (and therefore during a winding of the lifting cable on the drum), an emergency stop is activated (generally for safety reasons) and that consequently the lifting winch is cut off (thus stopping the rise of the suspended load), then faults in the winding of the lifting cable on the drum may appear. In Indeed, a sudden stop of the rotation of the drum, during a winding phase of the lifting cable, can lead, with the inertia of the lifting cable (in particular at high speed), to a wound part of the lifting cable comes loose from the drum and/or is distributed unevenly. Ultimately, such winding defects can degrade the condition of the lifting cable, and can harm the safety and reliability of lifting operations.

Thus, the invention proposes to solve this problem by controlling the lifting of the load, in particular during the phases of lifting the load, to at least warn of a risk of winding fault, so that a checking the winding (for example a visual inspection) and, if necessary, unwinding the lifting cable to correct and eliminate the winding fault, or even to prevent such a winding fault from occurring.

• mesure d'un paramètre de masse représentatif d'une masse de la charge suspendue ;
• mesure d'une vitesse de levage représentative d'une vitesse de déplacement de la charge suspendue, en montée et en descente, et comprise dans une plage de vitesses bornée à une vitesse maximale ;
• surveillance d'un arrêt d'urgence qui, une fois activé, coupe au moins le treuil de levage et stoppe le levage de la charge suspendue et qui, une fois désactivé, autorise une remise en service du treuil de levage ;
• lors d'une montée de la charge suspendue, comparaison de la vitesse de levage en montée avec un seuil bas qui varie en fonction du paramètre de masse, et avec un seuil haut qui varie aussi en fonction du paramètre de masse, ledit seuil haut étant supérieur ou égal au seuil bas et inférieur ou égal à la vitesse maximale ;
• contrôle du levage dans un mode optimisé dans lequel la vitesse de levage en montée est autorisée seulement en-dessous du seuil haut et interdite au-dessus du seuil haut, et si l'arrêt d'urgence est activé lors d'une montée de la charge suspendue et alors que la vitesse de levage en montée est supérieure au seuil bas alors une alarme est activée.

For this purpose, the invention proposes a control method for controlling the lifting of a suspended load by means of a lifting winch integrating a drum on which is wound a lifting cable coupled to the suspended load, this control method implementing the following steps:

• measurement of a mass parameter representative of a mass of the suspended load;
• measurement of a lifting speed representative of a speed of movement of the suspended load, up and down, and included in a speed range limited to a maximum speed;
• monitoring of an emergency stop which, once activated, cuts off at least the lifting winch and stops the lifting of the suspended load and which, once deactivated, authorizes the lifting winch to be put back into service;
• when the suspended load is raised, comparison of the lifting speed uphill with a low threshold which varies as a function of the mass parameter, and with a high threshold which also varies as a function of the mass parameter, said high threshold being greater than or equal to the low threshold and less than or equal to the maximum speed;
• lifting control in an optimized mode in which the lifting speed uphill is authorized only below the high threshold and prohibited above the high threshold, and if the emergency stop is activated during a rise in the suspended load and while the lifting speed uphill is greater than the low threshold then an alarm is activated.

Thus, the invention proposes an optimized mode in which, when the suspended load is raised, the lifting speed uphill is restricted in the sense that it cannot exceed the high threshold; this high threshold being dependent on the mass of the load and being a threshold beyond which the risk of a winding fault is very high, or even the winding fault may be such that it cannot be corrected, even by unwinding the lifting cable. Thus, this clamping prevents such a non-recoverable winding fault from occurring.

Furthermore, in this optimized mode when the suspended load is raised, if the lifting speed uphill is greater than the low threshold, then an alarm is activated; this low threshold being dependent on the mass of the load and being a threshold beyond which the risk of a winding fault is high, with a winding fault which is preferably correctable by unwinding the lifting cable. Thus, the alarm informs that it is necessary to check whether there is a winding fault and, if necessary, that this winding fault must be corrected by unwinding the lifting cable.

It should be noted that the mass parameter can correspond to the mass of the suspended load, or to another parameter which depends on the mass of the suspended load, such as for example a weight, a tension, a force, a stretching, etc.

It should also be noted that the lifting speed can correspond to the speed of movement of the suspended load, or to another speed which depends on the speed of movement of the suspended load, such as for example a rotation speed of the drum, a motor speed, a lifting cable speed, etc.

According to one characteristic, in the optimized mode, once the emergency stop is deactivated, and if the lifting speed uphill was greater than the low threshold at the time of activation of the emergency stop, then the lifting speed uphill, and optionally also downhill, is limited to a reduced speed, below the high threshold, until a winding condition is met, said winding condition being representative of a state of winding/unwinding the lifting cable around the drum.

In this way, after restarting the lifting winch, which follows an emergency stop during a rise of the suspended load at a lifting speed uphill greater than the low threshold, the lifting speed is limited to the reduced speed to help compensate for the probable winding fault, by unwinding the lifting cable, and also to avoid making the winding fault worse. Then, it is only once the winding condition is met that the lifting speed can be unrestrained (i.e. can exceed the reduced speed) in order to be able to resume lifting operations. charge.

This winding condition reflects the absence of a winding fault, either because no winding fault occurred at the time of the emergency stop, or because the winding fault has was caught after the lifting winch was put back into service. This winding condition may be subject to validation, either by an operator who carries out a visual check, or automatically or remotely, for example by means of a dedicated sensor.

In a variant embodiment, in the optimized mode, once the emergency stop is deactivated, and if the lifting speed uphill was greater than the low threshold at the time of activation of the emergency stop, then the lifting speed uphill is again authorized only below the high threshold and prohibited above the high threshold, unless another operating mode is selected.

In other words, in this alternative embodiment, the lifting speed, both up and down, is not restricted to the reduced speed after deactivation of the emergency stop, and there is no assessment of a winding condition; only the alarm is activated before a return to normal in this variant of the optimized mode.

According to one possibility, the winding condition is met once the lifting cable is unwound by a given unwinding length after deactivation of the emergency stop.

This unwinding length corresponds to a minimum length to compensate for a winding fault, and can be the result of a calculation, a simulation, a series of empirical tests, or a check by an operator.

According to another possibility, the unwinding length is a function of at least one of the following parameters among the lifting speed uphill at the time of activation of the emergency stop and the mass parameter.

In other words, this unrolling length depends on the lifting speed uphill at the time of activation of the emergency stop and/or the mass parameter.

According to one characteristic, once the winding condition is met in the optimized mode, the alarm is deactivated.

According to another characteristic, once the winding condition is met in the optimized mode, the lifting speed uphill is again authorized only below the high threshold and prohibited above the high threshold, unless another operating mode is selected.

In a particular embodiment, when the mass parameter is less than a given reference value, the low threshold and the high threshold are distinct and they increase with the mass parameter.

In other words, when the mass parameter is low (i.e. lower than the reference value), there will be three speed zones, below the low threshold, between the low threshold and the high threshold, and above the high threshold. Exceptions to this scenario are however possible, depending for example on the type of lifting cable and/or the model of lifting winch.

In a particular embodiment, when the mass parameter is greater than the reference value, the low threshold and the high threshold are equal; they decrease with the mass parameter.

In other words, when the mass parameter is high (i.e. greater than the reference value), there will be two speed zones, below the low threshold and above the low threshold; this low threshold being equivalent to the high threshold.

According to one possibility, the maximum speed varies according to the mass parameter and, when the mass parameter is greater than the reference value, the maximum speed decreases with the mass parameter and the low threshold and the high threshold are equal to this Maximum speed.

According to another possibility, when the mass parameter is less than the reference value, the maximum speed is constant or constant to plus or minus 15%, and the high threshold is strictly less than the maximum speed or is equal to the maximum speed .

Advantageously, the reduced speed, in the optimized mode, is lower than the low threshold.

According to one variant, the reduced speed, in the optimized mode, is between 0.1 and 0.6 times the maximum speed, and for example between 0.2 and 0.4 times the maximum speed.

In an advantageous embodiment, the alarm is in the form of a visual or audible alarm signal on a control interface.

In a particular embodiment, a step of selecting an operating mode is carried out among the optimized mode and a basic mode in which the lifting speed uphill is authorized in the entire speed range, and if a stop of emergency is activated when the suspended load is raised and while the lifting speed up is greater than the low threshold then an alarm is activated; and lifting control takes place in the selected operating mode.

This basic mode corresponds to operation without limiting the lifting speed, but still with an alarm if an emergency stop is activated when the suspended load is raised with an upward lifting speed greater than the low threshold , to inform that it is necessary to check if there is a winding fault; because as a reminder the low threshold is a threshold beyond which the risk of a winding fault is high.

Advantageously, in the basic mode, the alarm varies depending on whether the lifting speed uphill is less than the high threshold or is greater than the high threshold at the time of activation of the emergency stop.

In other words, in the basic mode, the alarm, whether audible or visual, depends on whether the uphill lifting speed is between the low threshold and the high threshold or whether the uphill lifting speed is above above the high threshold, in order to alert an operator of a risk of a high (or minor) but recoverable winding fault (case where the lifting speed uphill is lower than the high threshold) or of a risk of winding fault very high (or major) winding or even non-recoverable (case where the lifting speed uphill is greater than the high threshold).

In another particular embodiment, a step of selecting an operating mode is carried out among the optimized mode and a secure mode in which the lifting speed uphill is authorized only below the low threshold and prohibited above from the low threshold; and lifting control takes place in the selected operating mode.

This secure mode corresponds to operation with limiting the lifting speed uphill below the low threshold, in the sense that this lifting speed uphill cannot exceed the low threshold; thus preventing a winding fault (recoverable or non-recoverable) from occurring.

It is of course possible that a step of selecting an operating mode is carried out among the optimized mode, the basic mode and the secure mode, and the lifting control is carried out in the operating mode selected among the three.

Advantageously, during lifting control, the lowering lifting speed is allowed throughout the speed range.

In other words, in the optimized mode, and even in other operating modes such as basic mode and secure mode, the lowering lifting speed is not restricted and can operate in the entire speed range, otherwise said up to maximum speed.

Indeed, in the event of an emergency stop during a descent at high speed, no risk of winding fault is observed, only the ascent is problematic, at least for this question of winding fault.

• un premier système de mesure pour une mesure d'un paramètre de masse représentatif d'une masse de la charge suspendue ;
• un second système de mesure pour une mesure d'une vitesse de levage représentative d'une vitesse de déplacement de la charge suspendue, en montée et en descente, et comprise dans une plage de vitesses bornée à une vitesse maximale ;
• un arrêt d'urgence qui, une fois activé, coupe au moins le treuil de levage et stoppe le levage de la charge suspendue et qui, une fois désactivé, autorise une remise en service du treuil de levage ;
• un système d'alarme configurée pour émettre une alarme lorsqu'activé ; et
• un système de contrôle/commande relié au premier système de mesure, au second système de mesure, au treuil de levage, au système d'alarme et à l'arrêt d'urgence, ledit système de contrôle/commande étant configuré pour effectuer, lors d'une montée de la charge suspendue, une comparaison de la vitesse de levage en montée avec un seuil bas qui varie en fonction du paramètre de masse, et avec un seuil haut qui varie aussi en fonction du paramètre de masse, ledit seuil haut étant supérieur ou égal au seuil bas et inférieur ou égal à la vitesse maximale ; et

dans lequel le système de contrôle/commande est configuré pour, dans un mode optimisé, piloter le treuil de levage pour que la vitesse de levage en montée soit autorisée seulement en-dessous du seuil haut et soit interdite au-dessus du seuil haut, et pour activer le système d'alarme si l'arrêt d'urgence est activé lors d'une montée de la charge suspendue et alors que la vitesse de levage en montée est supérieure au seuil basThe invention also relates to a lifting or transport device, such as for example a crane, comprising a lifting winch incorporating a drum on which is wound a lifting cable coupled to a suspended load for lifting the suspended load, this lifting or transport device comprising:

• a first measuring system for measuring a mass parameter representative of a mass of the suspended load;
• a second measuring system for measuring a lifting speed representative of a speed of movement of the suspended load, up and down, and included in a speed range limited to a maximum speed;
• an emergency stop which, once activated, cuts off at least the lifting winch and stops the lifting of the suspended load and which, once deactivated, authorizes the lifting winch to be put back into service;
• an alarm system configured to emit an alarm when activated; And
• a control/command system connected to the first measuring system, the second measuring system, the lifting winch, the alarm system and the emergency stop, said control/command system being configured to carry out, when of a rise in the suspended load, a comparison of the lifting speed uphill with a low threshold which varies as a function of the mass parameter, and with a high threshold which also varies as a function of the mass parameter, said high threshold being greater than or equal to the low threshold and less than or equal to the maximum speed; And

in which the control/command system is configured to, in an optimized mode, control the lifting winch so that the lifting speed uphill is authorized only below the high threshold and is prohibited above the high threshold, and to activate the alarm system if the emergency stop is activated when the suspended load is raised and the lifting speed uphill is greater than the low threshold

According to one characteristic, the control/command system is configured to, in the optimized mode and once the emergency stop is deactivated, control the lifting winch so that the lifting speed, whether up or down descent, is limited to a reduced speed, below the high threshold, until a winding condition is met, said winding condition being representative of a state of winding/unwinding of the lifting cable around the drum.

According to one characteristic, the lifting or transport device comprises a mode selector for selecting an operating mode from the optimized mode and a basic mode in which the control/command system controls the lifting winch so that the lifting speed uphill is permitted in the entire speed range, and to activate the alarm system if an emergency stop is activated when the suspended load is raised and the lifting speed uphill is greater than the low threshold.

According to another characteristic, the lifting or transport device comprises a mode selector for selecting an operating mode from the optimized mode and a secure mode in which the control/command system controls the lifting winch so that the speed of lifting uphill is authorized only below the low threshold and prohibited above the low threshold.

• [Fig 1] est une vue schématique d'une grue selon l'invention ;
• [Fig 2] est un tableau représentant les variations du seuil bas et du seuil haut en fonction du paramètre de masse, avec les trois zones de vitesse dans le mode basique ;
• [Fig 3] est un tableau représentant les variations du seuil bas et du seuil haut en fonction du paramètre de masse, avec les trois zones de vitesse dans le mode optimisé ;
• [Fig 4] est un tableau représentant les variations du seuil bas et du seuil haut en fonction du paramètre de masse, avec les trois zones de vitesse dans le mode sécurisé.

Other characteristics and advantages of the present invention will appear on reading the detailed description below, of a non-limiting example of implementation, made with reference to the appended figures in which:

• [ Figure 1 ] is a schematic view of a crane according to the invention;
• [ Figure 2 ] is a table representing the variations of the low threshold and the high threshold as a function of the mass parameter, with the three speed zones in the basic mode;
• [ Figure 3 ] is a table representing the variations of the low threshold and the high threshold as a function of the mass parameter, with the three speed zones in the optimized mode;
• [ Figure 4 ] is a table representing the variations of the low threshold and the high threshold as a function of the mass parameter, with the three speed zones in the secure mode.

There figure 1 schematically represents a crane 1, for example of the tower crane type, this crane 1 comprising a mast 10 and a distributor boom 11 along which a carriage moves, under which the suspended load 9 is suspended from a lifting cable 60 by via a mitten and a hook (not shown).

The crane 1 also includes a lifting winch 6, essentially composed of an electric motor 61, a reduction gear and a drum 62 around which is wound the lifting cable 60 coupled to the suspended load 9; the electric motor 61 rotates the drum 62 in one direction or the other, via the reduction gear, to wind up or unwind the lifting cable 60, therefore for lifting the suspended load 9 uphill (towards the up) or down (down).

The electric motor 61 of the lifting winch 6 is controlled by a frequency converter 63, with a speed variator function. This electric motor 61 is itself supplied with electrical energy by an electrical power supply 12, which is in particular constituted by an electrical distribution network.

The lifting winch 6 also includes a motor brake 64, associated with the electric motor 61. Closing the motor brake 64 immobilizes the electric motor 61 and the drum 62 from rotating, while the opening of this motor brake 64 allows free rotation of the electric motor 61 and the drum 62. Normally, the switching on of the electric motor 61 is accompanied by an opening of the brake motor 64, while stopping this electric motor 61 is accompanied by the closing of the motor brake 64.

The crane 1 also includes a control/command system 2 connected to the frequency converter 63 for controlling the motor speed of the electric motor 61, whether up or down, and thus controlling the speed of movement of the crane 1. suspended load 9, up and down. This control/command system 2 is also connected to the engine brake 64 to control its opening/closing.

The crane 1 also includes a first measuring system 31 for measuring a mass parameter PM representative of a mass of the suspended load 9. This mass parameter PM can correspond to the mass of the suspended load 9, or else to another parameter which depends on the mass of the suspended load, such as for example a weight, a tension measured at the level of the lifting cable 60, a force measured for example at the level of the block or the hook, a stretching of the lifting cable lifting 60, etc.

The crane 1 also includes a second measuring system 32 for measuring a lifting speed VL representative of the speed of movement of the suspended load 9, up and down, and included in a speed range limited to a speed maximum VMAX. This lifting speed VL can correspond to the speed of movement of the suspended load 9, or to another speed which depends on the speed of movement of the suspended load 9, such as for example a speed of rotation of the drum 62, a setpoint speed, motor speed, lifting cable speed 60, etc. In normal operation, without limiting the lifting speed VL, this lifting speed VL can vary from zero to the maximum speed VMAX, this maximum speed VMAX being a manufacturer limit or a machine limit specific to the lifting winch 6. This maximum speed VMAX can vary with the mass parameter PM, and more particularly decrease with the mass parameter PM.

The control/command system 2 is connected to both the first measuring system 31 and the second measuring system 32 to receive in real time the measurement of the mass parameter PM and the measurement of the lifting speed VL.

The crane 1 incorporates at least one emergency stop 4, for example placed in a pilot cabin 13 or on a remote control or at the foot of the mast 10 and which, once activated, cuts off at least the lifting winch 6 (in other words stops the electric motor 61) and stops the lifting of the suspended load 9 and which, once deactivated, authorizes the reactivation of the lifting winch 6. This emergency stop 4 is connected to the control/command system 2 which, when the emergency stop 4 is activated, cuts off the lifting winch 6. Other electrical devices can of course also be cut off when the emergency stop is activated. emergency 4.

The crane 1 includes an alarm system 5 configured to emit an alarm when activated. This alarm system 5 can be in the form of a visual display, for example at a pilot interface placed in the pilot cabin 13 or a remote interface, so that the alarm signal is a visual signal on this control interface. Alternatively or in addition, this alarm system 5 may include a sound transmitter, for example in the cockpit 13, so that the alarm signal is a sound signal. The alarm system 5 is connected to the control/command system 2 which is configured to activate/deactivate the alarm system 5 under certain conditions described later.

The control/command system 2 is configured to carry out lifting control during a descent of the suspended load 9 and during an ascent of the suspended load 9.

During a descent of the suspended load 9, the control/command system 2 authorizes the lifting speed VL in descent in the entire speed range, in other words a pilot can control the lifting speed VL in the entire speed range up to at the corresponding maximum speed VMAX for the measured mass parameter PM.

During a rise of the suspended load 9, the control/command system 2 is configured to carry out a comparison of the lifting speed VL uphill with a low threshold SB which varies according to the mass parameter PM, and with a high threshold SH which also varies as a function of the mass parameter PM, where this high threshold SH is greater than or equal to the low threshold SB and less than or equal to the maximum speed VMAX.

THE Figures 2 to 4 illustrate, in tables, an example of variations of a low threshold SB and a high threshold SH, expressed in m/s, as a function of the mass parameter PM expressed in kg. The low threshold SB is represented by a single thick line, while the high threshold SH is represented by a double thick line. In this example, when the mass parameter is lower than a given PREF reference value, the low threshold SB and the high threshold SH are distinct and they increase with the mass parameter PM, and thus the low threshold SB is strictly lower than the SH high threshold. Furthermore, when the mass parameter PM is greater than the reference value PREF, the low threshold SB and the high threshold SH are equal to the maximum speed VMAX which decreases with the mass parameter PM. In other words, beyond this value of reference PREF, that is to say for very heavy loads, the control/command system 2 imposes a reduction in the maximum speed VMAX, and the two thresholds SB, SH are equal to this maximum speed VMAX and therefore also decrease with the mass parameter PM. In this example, when the mass parameter PM is lower than the reference value PREF, the maximum speed VMAX is constant or constant at plus or minus 15%, and the high threshold SH is strictly lower than the maximum speed VMAX.

Thus, the variation curves of the low threshold SB, the high threshold and the maximum speed VMAX delimit three speed zones, a low zone ZB below the low threshold SB, an intermediate zone ZI between the low threshold SB and the threshold high SH, and a high zone ZH between the high threshold SH and the maximum speed VMAX. The intermediate zone ZI and the high zone ZH stop beyond the reference value PREF, so that beyond this reference value PREF only the low zone ZB remains.

The low threshold SB and the high threshold SH are established by modeling, simulation or real test of a net stop of a winding of the lifting cable 60 around the drum 62 (such winding being associated with a rise in the suspended load 9 ) for different lifting speeds VL uphill and for different mass parameters PM, distinguishing the low threshold SB as a speed below which no winding fault is observed and above which a winding fault winding is observed, and the high threshold SH as a speed above which the observed winding fault is very high (or major) or even unrecoverable, while between the low threshold SB and the high threshold SH the winding fault is observed winding is high (or minor) but can be corrected by an operation of unwinding and rewinding the lifting cable 60.

During a rise of the suspended load 9, three operating modes can be selected, in particular by means of a mode selector 7, arranged for example at a pilot interface placed in the pilot cabin 13, so as to that the pilot (also called crane operator) can select an operating mode from the following three operating modes: a basic mode, an optimized mode and a secure mode.

The lifting control, by means of the control/command system 2, then takes place in the selected operating mode. During lifting control, the lowering VL lifting speed is, as a reminder, authorized in the entire speed range.

In reference to the Figure 2 , in the basic mode, the control/command system 2 controls the lifting winch 6 so that the lifting speed VL in rise (in other words during a rise of the suspended load 9) is authorized in the entire speed range, therefore up to the maximum speed VMAX. Also, in basic mode, control system 2 authorizes the lifting speed VL in the three speed zones ZB, ZI and ZH. Furthermore, in this basic mode, the control/command system 2 is configured to activate the alarm system 5 if the emergency stop 4 is activated during an increase in the suspended load 9 and while the speed lifting VL uphill is greater than the low threshold SB.

• si la vitesse de levage VL en montée est dans la zone basse ZB au moment de l'activation de l'arrêt d'urgence 4 qui provoque un arrêt net de la montée de la charge suspendue 9, alors le système d'alarme 5 n'est pas activé ; et
• si la vitesse de levage VL en montée est dans la zone intermédiaire ZI ou dans la zone haute ZH, au moment de l'activation de l'arrêt d'urgence 4, alors le système d'alarme 5 est activé pour déclencher une alarme propre à informer un opérateur (par exemple le pilote) d'un risque de défaut d'enroulement.

In other words, in basic mode:

• if the lifting speed VL uphill is in the low zone ZB at the time of activation of the emergency stop 4 which causes a net stop to the rise of the suspended load 9, then the alarm system 5 n 'is not activated; And
• if the VL lifting speed uphill is in the intermediate zone ZI or in the high zone ZH, at the time of activation of the emergency stop 4, then the alarm system 5 is activated to trigger its own alarm to inform an operator (for example the pilot) of a risk of winding fault.

• le défaut d'enroulement est potentiellement élevé (ou mineur) et rattrapable dans le cas où la vitesse de levage VL en montée est dans la zone intermédiaire ZI ; ou
• le défaut d'enroulement est potentiellement très élevé (ou majeur) voire non rattrapable dans le cas où la vitesse de levage VL en montée est dans la zone haute ZH.

In basic mode, the alarm varies depending on whether the lifting speed VL when climbing is lower than the high threshold SH or is greater than the high threshold SH, in other words the alarm is not the same depending on the lifting speed VL uphill is in the intermediate zone ZB or in the high zone ZH, at the time of activation of emergency stop 4. In this way, the operator will be informed with two distinct alarms that:

• the winding fault is potentially high (or minor) and recoverable in the case where the lifting speed VL uphill is in the intermediate zone ZI; Or
• the winding fault is potentially very high (or major) or even unrecoverable in the case where the lifting speed VL uphill is in the high zone ZH.

In basic mode, once emergency stop 4 is deactivated, the VL lifting speed, whether up or down, is allowed again in the entire speed range, unless another operating mode is selected.

In reference to the Figure 3 , in the optimized mode, the control/command system 2 controls the lifting winch 6 so that the lifting speed VL uphill is authorized only below the high threshold SH and prohibited above the high threshold SH. Also, in the optimized mode, the control/command system 2 authorizes the lifting speed VL uphill only in the low zone ZB and in the intermediate zone ZI, and prohibits the lifting speed VL uphill in the high zone ZH, which is schematized by stripes in the upper zone ZH on the Figure 3 .

Furthermore, in this optimized mode, the control/command system 2 is configured to activate the alarm system 5 if the emergency stop 4 is activated during an increase in the suspended load 9 and while the speed lifting VL uphill is greater than the low threshold SB.

• si la vitesse de levage VL en montée est dans la zone basse ZB au moment de l'activation de l'arrêt d'urgence 4, alors le système d'alarme 5 n'est pas activé ; et
• si la vitesse de levage VL en montée est dans la zone intermédiaire ZI, au moment de l'activation de l'arrêt d'urgence 4, alors le système d'alarme 5 est activé pour déclencher une alarme propre à informer l'opérateur d'un risque de défaut d'enroulement.

In other words, in optimized mode:

• if the lifting speed VL uphill is in the low zone ZB at the time of activation of the emergency stop 4, then the alarm system 5 is not activated; And
• if the lifting speed VL uphill is in the intermediate zone ZI, at the time of activation of the emergency stop 4, then the alarm system 5 is activated to trigger an alarm capable of informing the operator of 'a risk of winding fault.

This alarm can be specific to the optimized mode, and therefore different from the basic mode alarms. It is also possible that this optimized mode alarm is equivalent to the basic mode alarm triggered when the lifting speed VL uphill is in the intermediate zone ZI.

Thus, with this optimized mode, the high ZH zone is prohibited so that there is no risk of a major or even irremediable winding fault. On the other hand, the intermediate zone ZI is authorized, so that if the VL lifting speed uphill is in the intermediate zone ZI at the time of activation of emergency stop 4, then the operator will be informed by a alarm of a risk of winding fault, which is potentially minor and recoverable.

• si la vitesse de levage VL en montée était inférieure au seuil bas SB (autrement dit était dans la zone basse ZB) au moment de l'activation de l'arrêt d'urgence 4, la vitesse de levage VL en montée est à nouveau autorisée en-dessous du seuil haut SH et interdite au-dessus du seuil haut SH (autrement dit est autorisée dans la zone basse ZB et dans la zone intermédiaire ZI, et interdite dans la zone haute ZH), à moins qu'un autre mode de fonctionnement ne soit sélectionné ;
• si la vitesse de levage VL en montée était supérieure au seuil bas SB (autrement dit était dans la zone intermédiaire ZI) au moment de l'activation de l'arrêt d'urgence 4, la vitesse de levage VL en montée, et optionnellement aussi en descente, est limitée à une vitesse réduite VRED, jusqu'à ce qu'une condition d'enroulement soit remplie, une telle condition d'enroulement étant représentative d'un état d'enroulement/déroulement du câble de levage 60 autour du tambour 62.

In optimized mode, once emergency stop 4 is deactivated, there are two possibilities:

• if the VL lifting speed uphill was lower than the low threshold SB (in other words was in the low zone ZB) at the time of activation of emergency stop 4, the VL lifting speed uphill is authorized again below the high threshold SH and prohibited above the high threshold SH (in other words is authorized in the low zone ZB and in the intermediate zone ZI, and prohibited in the high zone ZH), unless another mode of operation is selected;
• if the VL lifting speed uphill was greater than the low threshold SB (in other words was in the intermediate zone ZI) at the time of activation of emergency stop 4, the VL lifting speed uphill, and optionally also in descent, is limited to a reduced speed VRED, until a winding condition is met, such winding condition being representative of a state of winding/unwinding of the lifting cable 60 around the drum 62.

The advantage of restricting the VL lifting speed uphill to the reduced speed VRED (in other words the VL lifting speed uphill cannot exceed the reduced speed VRED) is to impose low speed operations for rewinding. of the lifting cable 60 around the drum 62 to compensate for the winding fault.

Optionally, the VL lifting speed on the descent is also restricted to the reduced speed VRED (in other words the VL lifting speed on the descent cannot exceed the reduced speed VRED) to impose low speed operations for unwinding the lifting cable. 60 to compensate for the winding fault.

The winding condition depends on the VL lifting speed uphill at the time of activation of emergency stop 4. In fact, the winding fault increases with the VL lifting speed uphill at the time of activation of the emergency stop 4.

The winding condition is also a function of the mass parameter PM. Indeed, the winding fault decreases with the mass parameter PM measured at the time of activation of the emergency stop 4, because the heavier the suspended load 9 is and applies increased tension on the lifting cable 60 and the less the risk of a winding fault is present.

Advantageously, the winding condition is met once the lifting cable 60 is unwound by a given unwinding length LDER after deactivation of the emergency stop 4. This unwinding length LDER is therefore also a function of the VL lifting speed uphill at the time of activation of emergency stop 4 and/or mass parameter PM.

It is possible that the control of the winding condition is carried out automatically (by means of a sensor or automatic control of the unwinding length LDER) and/or visually by an operator.

• l'alarme du système d'alarme 5 soit désactivée ;
• la vitesse de levage VL en montée soit à nouveau autorisée seulement en-dessous du seuil haut SH et interdite au-dessus du seuil haut SH, à moins qu'un autre mode de fonctionnement soit sélectionné ;
• la vitesse de levage VL en descente soit à nouveau autorisée dans toute la plage de vitesse, dans le cas où cette vitesse de levage VL en descente était limitée à la vitesse réduite VRED.

In the optimized mode, once the winding condition is met, the control/command system 2 provides commands so that:

• the alarm of alarm system 5 is deactivated;
• the lifting speed VL when climbing is again authorized only below the high threshold SH and prohibited above the high threshold SH, unless another operating mode is selected;
• the VL lifting speed downhill is again authorized in the entire speed range, in the case where this VL lifting speed downhill was limited to the reduced speed VRED.

This reduced speed VRED may be lower than the low threshold SB (as associated with the mass parameter PM of the suspended load 9) and/or be included between 0.1 and 0.6 times the maximum speed, and for example between 0.2 and 0.4 times the maximum speed.

Alternatively, in the optimized mode, once emergency stop 4 is deactivated, there is only one possibility: it does not matter whether the lifting speed VL uphill was lower or higher than the low threshold SB at the time of lifting. activation of emergency stop 4, the lifting speed VL uphill is again authorized below the high threshold SH and prohibited above the high threshold SH (in other words is authorized in the low zone ZB and in the intermediate zone ZI, and prohibited in the upper zone ZH), unless another operating mode is selected. In other words, in this variant, there is no reduced speed or winding condition, and there is essentially the alarm to warn the operator of a risk of winding fault.

In reference to the Figure 4 , in the secure mode, the control/command system 2 controls the lifting winch 6 so that the lifting speed VL uphill is authorized only below the low threshold SB and prohibited above the low threshold SB. Also, in the secure mode, the control/command system 2 authorizes the lifting speed VL uphill only in the low zone ZB, and prohibits the lifting speed VL uphill in the intermediate zone ZI and in the high zone ZH, which is represented schematically by stripes in the intermediate zone ZI and in the upper zone ZH on the Figure 4 .

In this secure mode, if the emergency stop 4 is activated when the suspended load 9 rises, the control/command system 2 activates no alarm by means of the alarm system 5, because there is no there is no risk of winding fault below the low threshold SB. Once emergency stop 4 is deactivated, the lifting speed VL uphill is again permitted below the low threshold SB and prohibited above the low threshold SB, unless another operating mode is selected.

Claims (15)

1. A control method for controlling lifting of a hanging load (9) by means of a lifting winch (6) integrating a drum (62) on which is wound a lifting rope (60) coupled to the hanging load (9), said control method implementing the following steps:

   - measuring of a mass parameter (PM) representative of a mass of the hanging load (9);

   - measuring of a lifting speed (VL) representative of a displacement speed of the hanging load (9), when ascending or descending, and comprised within a speed range bound by a maximum speed (VMAX);

   - supervision of an emergency stop (4) which, once activated, shuts off at least the lifting winch (6) and stops lifting of the hanging load (9) and which, once deactivated, authorizes a reactivation of the lifting winch (6);

   - during an ascending of the hanging load (9), comparison of the lifting speed (VL) when ascending with a low threshold (SB) which varies according to the mass parameter (PM), and with a high threshold (SH) which also varies according to the mass parameter (PM), said high threshold (SH) being higher than or equal to the low threshold (SB) and lower than or equal to the maximum speed (VMAX);

   - monitoring of the lifting in an optimized mode in which the lifting speed (VL) when ascending is authorized only below the high threshold (SH) and forbidden above the high threshold (SH), and if the emergency stop (4) is activated during an ascending of the hanging load (9) and while the lifting speed (VL) when ascending is higher than the low threshold (SB) then an alarm is activated.
2. The lifting method according to claim 1, wherein, in the optimized mode, once the emergency stop (4) is deactivated, and if the lifting speed (VL) when ascending was higher than the low threshold (SB) at the time of activation of the emergency stop (4), then the lifting speed (VL) when ascending, and also optionally the lifting speed when descending, is limited to a reduced speed (VRED), lower than the high threshold (SH), until a winding condition is met, said winding condition being representative of a wound/unwound state of the lifting robe (60) around the drum (62).
3. The lifting method according to claim 2, wherein the winding condition depends on the lifting speed (VL) when ascending at the time of activation of the emergency stop (4).
4. The lifting method according to claim 2 or 3, wherein the winding condition is met once the lifting cable (60) is unwound by a definite unwound length (LDER) after deactivation of the emergency stop (4).
5. The lifting method according to claim 3 and 4, wherein the unwound length (LDER) depends on at least one of the following parameters among the lifting speed (VL) when ascending at the time of activation of the emergency stop (4) and the mass parameter (PM).
6. The lifting method according to any one of claims 2 to 5, wherein, once the winding condition is met in the optimized mode, the alarm is deactivated and the lifting speed (VL) when ascending is again authorized only below the high threshold (SH) and forbidden above the high threshold (SH), unless another operating mode is selected.
7. The lifting method according to any one of the preceding claims, wherein, when the mass parameter (PM) is lower than a definite reference value (PREF), the low threshold (SB) and the high threshold (SH) are distinct and they increase with the mass parameter (PM).
8. The lifting method according to claim 7, wherein, when the mass parameter (PM) is higher than the reference value (PREF), the low threshold (SB) and the high threshold (SH) are equal, they decrease with the mass parameter (PM).
9. The lifting method according to any one of the preceding claims, comprising a step of selecting an operating mode amongst the optimized mode and a basic mode in which the lifting speed (VL) when ascending is authorized over the entire speed range, and if an emergency stop (4) is activated during an ascending of the hanging load (9) and while the lifting speed (VL) when ascending is higher than the low threshold (SB) then an alarm is activated;
   and the monitoring of the lifting is performed in the selected operating mode.
10. The lifting method according to claim 9, wherein, in the basic mode, the alarm varies depending on whether the lifting speed (VL) when ascending is lower than the high threshold (SH) or is higher than the high threshold (SH) at the time of activation of the emergency stop (4).
11. The lifting method according to any one of the preceding claims, comprising a step of selecting an operating mode amongst the optimized mode and a safe mode in which the lifting speed (VL) when ascending is authorized only below the low threshold (SB) and forbidden above the low threshold (SB);
    and the monitoring of the lifting is performed in the selected operating mode.
12. A lifting or transport apparatus, such as for example a crane (1), comprising a lifting winch (6) integrating a drum (62) on which is wound a lifting rope (60) coupled to a hanging load (9) for lifting of the hanging load (9), said lifting or transport apparatus comprising:

    - a first measuring system (31) for measuring a mass parameter (PM) representative of a mass of the hanging load (9);

    - a second measuring system (32) for measuring a lifting speed (VL) representative of a displacement speed of the hanging load (9), when ascending or descending, and comprised within a speed range bound by a maximum speed (VMAX);

    - an emergency stop (4) which, once activated shuts off at least the lifting winch (6) and stops lifting of the hanging load (9) and which, once deactivated, authorizes a reactivation of the lifting winch (6);

    - an alarm system (5) configured to emit an alarm when activated; and

    - a monitoring/control system (2) connected to the first measuring system (31), to the second measuring system (32), to the lifting winch (6), to the alarm system (5) and to the emergency stop (4), said monitoring/control system (2) being configured to perform, during an ascending of the hanging load (9), a comparison of the lifting speed (VL) when ascending with a low threshold (SB) which varies according to the mass parameter (PM), and with a high threshold (SH) which also varies according to the mass parameter (PM), said high threshold (SH) being higher than or equal to the low threshold (SB) and lower than or equal to the maximum speed (VMAX); and

    wherein the monitoring/control system (2) is configured, in an optimized mode, to control the lifting winch (6) so that the lifting speed (VL) when ascending is authorized only below the high threshold (SH) and is forbidden above the high threshold (SH), and to activate the alarm system (5) if the emergency stop (4) is activated during an ascending of the hanging load (9) and while the lifting speed (VL) when ascending is higher than the low threshold (SB).
13. The lifting or transport apparatus according to claim 12, wherein the monitoring/control system (2) is configured, in the optimized mode and once the emergency stop (4) is deactivated, to control the lifting winch (6) so that the lifting speed (VL), whether when ascending or descending, is limited to a reduced speed (VRED), lower than the high threshold (SH), until a winding condition is met, said winding condition being representative of a wound/unwound state of the lifting cable (60) around the drum (62).
14. The lifting or transport apparatus according to claim 12 or 13, comprising a mode selector (7) for selecting an operating mode amongst the optimized mode and a basic mode in which the monitoring/control system (2) controls the lifting winch (6) so that the lifting speed (VL) when ascending is authorized over the entire speed range, and for activating the alarm system (5) if an emergency stop (4) is activated during an ascending of the hanging load (9) and while the lifting speed (VL) when ascending is higher than the low threshold (SB).
15. The lifting or transport apparatus according to any one of claims 12 to 14, comprising a mode selector (7) to select an operating mode amongst the optimized mode and a safe mode in which the monitoring/control system (2) controls the lifting winch (6) so that the lifting speed (VL) when ascending is authorized only below the low threshold (SB) and forbidden above the low threshold (SB).

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