EP4105162B1 - Crane and method for securing a crane on the occurrence of an exceptional event - Google Patents

Description

[Technical area]

The invention relates to a method for securing a crane in the event of an exceptional event as well as the crane for which this securing method is implemented.

[State of the art]

Cranes are designed by crane manufacturers to be used in certain operating conditions with limit values for these operating conditions, these limit values generally being set by the manufacturer, by a standard relating to the crane, by a regulation or by specific conditions of use of the crane.

For example, if a tower crane is out of service but is subjected to a wind different from the usual conditions assumed for the design of tower cranes, for example a non-laminar wind occurring due to the influence of a nearby obstacle of the crane, it may be locally subject to a significant wind speed, or to a variation in the speed and direction of the wind which may cause the upper part of the crane to rotate continuously around its pivot axis, in oscillation around the axis of rotation, or even to position itself across the wind, thus considerably increasing its exposed wind surface. Uncontrolled forces and movements thus generated can damage the structure of the crane, its mechanisms, its foundations and anchorings without causing it to tip over. Thus, if a storm occurs when the crane is not in operation, and the influence of the wind locally experienced by the crane generates forces or movements of the crane that do not conform to the normal behavior of a crane in a flow of laminar wind, it is said that an exceptional event took place in the crane.

This exceptional event then requires an inspection of the condition of the crane in order to verify that it can be operated without danger. However, the crane was not in operation when this exceptional event occurred, no inspection will be carried out since the occurrence of the exceptional event will not have been detected and the exceptional event will not have been identified.

Furthermore, if for example during operation of a tower crane, a sling breaks, the crane is then subjected to a shock wave likely to deform the frame as well as the foundations of the crane. In this case, the crane simply stops by overload detection, and the crane operator can restart the crane normally even ignoring a series of instructions provided by the crane manufacturer such as for example instructions for carrying out a structural inspection before putting the crane back into service. The crane operator would then risk putting a damaged crane back into service.

The document US2018/0018641 , which discloses the preamble of claims 1 and 9, describes a method for estimating a lifespan of a crane component, which takes into account work cycles, loads, and which in particular detects an imminent failure of the component crane. The process then issues an alert informing the crane operator, and can also stop or limit crane movements. However, despite the fact that the process described in the document US2018/0018641 issues an alert informing the crane operator of an imminent crane component failure, the crane operator may choose to ignore this alert message and continue operating the crane. In addition, the alert message emitted by the method described in the document US2018/0018641 concerns an imminent failure of a component of the crane but not the occurrence of an exceptional event which would not result in the imminent failure of a component such as for example a strong wind which would have slightly inclined the frame of the crane and which would therefore require an adjustment of the framework without generating a risk of imminent failure in the crane.

[Summary]

The present invention aims to resolve all or part of the drawbacks mentioned above.

The technical problem underlying the invention consists in particular of implementing a securing method to secure the crane in the event of an exceptional event which is simple and economical in structure and which makes it possible to remedy a non-detection of the occurrence of an exceptional event on a crane, or even deliberate ignorance of the crane manufacturer's instructions for returning the crane to service after the occurrence of the exceptional event.

• établissement d'une liste d'évènements exceptionnels détectables au moyen des capteurs de mouvements, de charge et de sécurité et son stockage dans une unité de mémoire connectée à l'unité de traitement;
• association, à chaque évènement exceptionnel de la liste d'évènements exceptionnels, de plusieurs niveaux de sévérité, chaque niveau de sévérité étant fonction d'une valeur de l'information d'évènement d'au moins un des capteurs de mouvements, de charge et de sécurité ;

• association, à chaque évènement exceptionnel et pour chaque niveau de sévérité, d'une consigne de sécurité relative aux actionneurs et définissant au moins un degré de limitation d'au moins un mouvement de la grue ;
• la grue fonctionnant dans un mode de fonctionnement nominal, détection par le système de contrôle-commande d'un évènement exceptionnel de la liste d'évènements exceptionnels en fonction de l'information d'évènement issue d'au moins un des capteurs de mouvements, de charge et de sécurité;
• évaluation par le système de contrôle-commande du niveau de sévérité de l'évènement exceptionnel en fonction de la valeur de l'information d'évènement correspondante;
• basculement en fonctionnement sécurisé, qui consiste en ce que le système de contrôle-commande fait basculer la grue du mode de fonctionnement nominal à un mode de fonctionnement sécurisé dans lequel le système de contrôle-commande applique la consigne de sécurité associée au niveau de sévérité évalué pour l'évènement exceptionnel détecté;
• émission par le système de contrôle-commande d'un message d'alerte informant de la survenue de l'évènement exceptionnel.

To this end, the subject of the present invention is a securing method for securing a crane upon the occurrence of an exceptional event among a plurality of predefined exceptional events, the crane comprising a control-command system connected to actuators of the crane for managing movements of the crane and a load suspended from the crane and integrated within a processing unit of the crane, the processing unit being connected to movement, load and safety sensors placed on elements of the crane and delivering respective event information representative of exceptional events, and the securing method comprises the following steps:

• establishment of a list of exceptional events detectable by means of movement, load and security sensors and its storage in a memory unit connected to the processing unit;
• association, with each exceptional event in the list of exceptional events, of several levels of severity, each level of severity being a function of a value of event information from at least one of the movement, load and security sensors;

• association, with each exceptional event and for each level of severity, of a safety instruction relating to the actuators and defining at least one degree of limitation of at least one movement of the crane;
• the crane operating in a nominal operating mode, detection by the control-command system of an exceptional event from the list of exceptional events as a function of the event information coming from at least one of the movement sensors, charging and security;
• evaluation by the control-command system of the severity level of the exceptional event as a function of the value of the corresponding event information;
• switching to safe operation, which consists of the control-command system switching the crane from the nominal operating mode to a safe operating mode in which the control-command system applies the safety instruction associated with the assessed severity level for the exceptional event detected;
• emission by the control-command system of an alert message informing of the occurrence of the exceptional event.

According to one possibility, the safety instruction is associated with an alert message relating to the exceptional event, and possibly to the level of severity associated with the exceptional event.
Application of the safety instruction implies that the control-command system blocks the movements of the crane or imposes limitations on the movements of the crane.

The security method may also have one or more of the following characteristics, taken alone or in combination.

• une réception par le système de contrôle-commande d'un code de déverrouillage ;
• un basculement de la grue par le système de contrôle-commande du mode de fonctionnement sécurisé vers le mode de fonctionnement nominal, en réponse à la réception dudit code de déverrouillage.

According to one possibility, the list of exceptional events comprises at least one critical exceptional event associated with at least one critical severity level among the several severity levels associated with said critical exceptional event, and in which after the tilting of the crane in safe operation following the detection of said critical exceptional event and the evaluation of said critical severity level, said security method implements a return to nominal operation phase comprising:

• reception by the control-command system of an unlocking code;
• a switching of the crane by the control-command system from the secure operating mode to the nominal operating mode, in response to receipt of said unlocking code.

It is only on the condition of having received the unlocking information that the control system switches the crane from the secure operating mode to the nominal operating mode.

The return to nominal operation phase may include a step of entering the unlocking code on an input interface linked to the control system.

The return to nominal operation phase may further comprise a step of identifying the unlocking code received in a series of unlocking codes pre-recorded in the memory unit.

• une émission par le système de contrôle-commande d'une série d'instructions caractérisant une démarche à suivre pour un retour en fonctionnement nominal ;
• un basculement de la grue par le système de contrôle-commande du mode de fonctionnement sécurisé vers le mode de fonctionnement nominal, en réponse à une réalisation effective de la série d'instructions.

According to one possibility, at least one critical exceptional event is associated with at least one non-critical severity level distinct from the critical severity level(s) and in which
after the switch to secure operation following the detection of said critical exceptional event and the evaluation of said non-critical severity level, said security method implements a return to nominal operation phase comprising:

• a transmission by the control-command system of a series of instructions characterizing a procedure to follow for a return to nominal operation;
• a switch of the crane by the control-command system from the safe operating mode to the nominal operating mode, in response to effective completion of the series of instructions.

• une émission par le système de contrôle-commande d'une série d'instructions caractérisant une démarche à suivre pour un retour en fonctionnement nominal ;
• un basculement de la grue par le système de contrôle-commande du mode de fonctionnement sécurisé vers le mode de fonctionnement nominal, en réponse à une réalisation effective de la série d'instructions.

According to one possibility, the list of exceptional events includes at least one non-critical exceptional event, distinct from the critical exceptional event(s), and in which
after the switch to secure operation following the detection of said non-critical exceptional event and whatever the evaluation of the associated severity level, said security method implements a return to nominal operation phase comprising:

• a transmission by the control-command system of a series of instructions characterizing a procedure to follow for a return to nominal operation;
• a switch of the crane by the control-command system from the safe operating mode to the nominal operating mode, in response to effective completion of the series of instructions.

• mode « dégradé 0 », dans lequel seuls des mouvements nécessaires à une mise en sécurité de la grue sont autorisés ;
• mode « dégradé 1 », dans lequel la grue fonctionne à une fraction de ses capacités maximales de charge ou de moment ;
• mode « dégradé 2 », dans lequel la grue fonctionne à une fraction de ses capacités de vitesse.

The safe operating mode of the crane can be chosen from the following operating modes:

• “degraded 0” mode, in which only movements necessary to make the crane safe are authorized;
• “degraded 1” mode, in which the crane operates at a fraction of its maximum load or moment capacities;
• “degraded 2” mode, in which the crane operates at a fraction of its speed capabilities.

According to one possibility, the “degraded 1” and “degraded 2” modes can be activated simultaneously by the control-command system.

The list of exceptional events may include at least the following event: excessive exceeding of a measured temperature, the associated event information corresponding to a measured temperature.

The list of exceptional events may include at least the following event: intensive use of the crane, the associated event information corresponding to a load spectrum or a load factor calculated from a history of use of the crane.

The list of exceptional events may include at least the following event: a loss of a load from the crane, the associated event information corresponding to a measured mass of the load lifted by the crane.

The list of exceptional events may include at least the following event: an overload of the crane, the associated event information corresponding to a measured mass of the load carried by the crane.

The list of exceptional events may include at least the following event: an accidental overload of the crane in operation greater than 125% of a maximum operating load of the crane, the associated event information corresponding to a measurement permanent damage by means of a load measuring sensor.

The list of exceptional events may include at least the following event: a collision of the crane with an obstacle, the associated event information corresponding to a collision alarm signal transmitted by an anti-collision system mounted on the crane.

The list of exceptional events may include at least the following event: a wind speed greater than a defined wind speed limit, the associated event information corresponding to a measurement of the wind speed.

The list of exceptional events may include at least the following event: a detection of autorotation or oscillation of the crane, the associated event information corresponding to a moment of rotation of the crane measured using an accelerometer.

The list of exceptional events may include at least the following event: a detection of the crane being crossed into the wind, the associated event information corresponding to a measurement of a wind direction using a or several weather vanes.

The list of exceptional events may include at least the following event: detection of unsuitable operation of the crane, the associated event information being detected by the control-command system.

The list of exceptional events may include at least the following event: a crushing of the foundations of the crane, the associated event information corresponding to a measurement of an angle of inclination of the base of the crane.

• une unité de traitement connectée à des capteurs de mouvements, de charge et de sécurité placés sur des éléments de la grue et délivrant des informations d'évènement respectives représentatives d'évènements exceptionnels ;
• une unité de mémoire reliée à l'unité de traitement, et stockant une liste d'évènements exceptionnels détectables au moyen des capteurs de mouvements, de charge et de sécurité, chaque évènement exceptionnel étant associé à plusieurs niveaux de sévérité, chaque niveau de sévérité étant fonction d'une valeur de l'information d'évènement d'au moins un des capteurs de mouvements, de charge et de sécurité, et dans lequel à chaque évènement exceptionnel et pour chaque niveau de sévérité, est associée une consigne de sécurité relative aux actionneurs et définissant au moins un degré de limitation d'au moins un mouvement de la grue ;
• un système de contrôle-commande connecté à des actionneurs de la grue pour gérer des mouvements de la grue et d'une charge suspendue à la grue et intégré au sein de l'unité de traitement de la grue ;

ledit système de contrôle-commande étant configuré pour :

• la grue fonctionnant dans un mode de fonctionnement nominal, détecter un évènement exceptionnel de la liste d'évènements exceptionnels en fonction de l'information d'évènement issue d'au moins un des capteurs de mouvements, de charge et de sécurité ;
• évaluer le niveau de sévérité de l'évènement exceptionnel en fonction de la valeur de l'information d'évènement correspondante;
• faire basculer la grue du mode de fonctionnement nominal à un mode de fonctionnement sécurisé dans lequel le système de contrôle-commande applique la consigne de sécurité associée au niveau de sévérité évalué pour l'évènement exceptionnel détecté;
• émettre un message d'alerte informant de la survenue de l'évènement exceptionnel.

The present invention further relates to a crane comprising:

• a processing unit connected to movement, load and safety sensors placed on elements of the crane and delivering respective event information representative of exceptional events;
• a memory unit connected to the processing unit, and storing a list of exceptional events detectable by means of movement, load and security sensors, each exceptional event being associated with several severity levels, each severity level being function of a value of the event information from at least one of the movement, load and safety sensors, and in which with each exceptional event and for each level of severity, a safety instruction relating to the actuators and defining at least one degree of limitation of at least one movement of the crane;
• a control system connected to crane actuators to manage movements of the crane and a load suspended from the crane and integrated within the crane processing unit;

said control-command system being configured to:

• the crane operating in a nominal operating mode, detect an exceptional event from the list of exceptional events according to the event information coming from at least one of the movement, load and safety sensors;
• evaluate the level of severity of the exceptional event based on the value of the corresponding event information;
• switch the crane from the nominal operating mode to a safe operating mode in which the control-command system applies the safety instruction associated with the severity level evaluated for the exceptional event detected;
• issue an alert message informing of the occurrence of the exceptional event.

[Brief description of the figures]

• La Figure 1 est un organigramme présentant les étapes principales du procédé de sécurisation.
• La Figure 2 est un organigramme présentant les étapes mises en oeuvre par le procédé de sécurisation de la figure 1 lors d'une phase de retour en fonctionnement nominal après un basculement de la grue en fonctionnement sécurisé suite à une détection d'un évènement exceptionnel critique et à une évaluation d'un niveau de sévérité critique.
• La Figure 3 est un organigramme présentant les étapes mises en oeuvre par le procédé de sécurisation de la figure 1 lors d'une phase de retour en fonctionnement nominal après un basculement de la grue en fonctionnement sécurisé suite à une détection d'un évènement exceptionnel critique et à une évaluation d'un niveau de sévérité non critique.
• La Figure 4 est un organigramme présentant les étapes mises en oeuvre par le procédé de sécurisation de la figure 1 lors d'une phase de retour en fonctionnement nominal après un basculement de la grue en fonctionnement sécurisé suite à une détection d'un évènement exceptionnel non critique quel que soit le niveau de sévérité associé.
• La Figure 5 est une vue schématique d'une grue selon un exemple de réalisation de l'invention.

The invention will be better understood with the help of the detailed description which is set out below with reference to the appended drawings in which:

• There Figure 1 is a flowchart presenting the main steps of the security process.
• There Figure 2 is a flowchart presenting the steps implemented by the security process. figure 1 during a return to nominal operation phase after the crane has switched to safe operation following detection of a critical exceptional event and an assessment of a critical severity level.
• There Figure 3 is a flowchart presenting the steps implemented by the security process. figure 1 during a return to nominal operation phase after the crane has switched to safe operation following detection of a critical exceptional event and an assessment of a non-critical severity level.
• There Figure 4 is a flowchart presenting the steps implemented by the security process. figure 1 during a return to nominal operation phase after the crane has switched to safe operation following detection of an exceptional non-critical event regardless of the associated severity level.
• There Figure 5 is a schematic view of a crane according to an exemplary embodiment of the invention.

[Detailed description]

In the detailed description which follows of the figures defined above, the same elements or the elements fulfilling identical functions may retain the same references so as to simplify the understanding of the invention.

The invention relates to a securing method for securing a crane 1 in the event of an exceptional event.

The exceptional event corresponds to a recording of a request from the crane 1 which exceeds the design limits defined by the manufacturer of the crane 1 or the limits of use defined by the manufacturer but also by third party entities, such as an owner of crane 1, an operator of crane 1, a user of crane 1 or crane operator or even a local regulation.

The crane 1 comprises a control-command system 20 connected to actuators 40, 41, 42 of the crane 1 to manage movements of the crane 1 and of a load 5 suspended from the crane 1 and integrated within a processing unit 2 of the crane 1, the processing unit 2 being connected to movement, load and safety sensors 3 placed on elements of the crane 1 (such as for example on a mast 10 or a boom 11 of the crane 1) and delivering respective event information representative of exceptional events.

The actuators may include at least one of the following actuators: a motorized lifting system 40 allowing lifting/lowering of the load 5, a motorized distribution system 41 allowing distribution of the load 5 along the arrow 11 by moving a distribution trolley 12, a motorized orientation system 42 allowing orientation of the boom 11, a motorized translation system allowing translation of the crane 1, a motorized lifting system allowing lifting of a lifting boom (or boom tiltable).

The control-command system 20, based on the movement, load and safety sensors 3 informing the processing unit 2, has the capacity to analyze the environment of the crane 1 and thus to detect the exceptional event.

Table [Tab.1] lists some examples of exceptional events as well as corresponding sensors chosen from movement, load and safety sensors 3, which can be standard sensors and/or optional sensors to be installed on the crane 1 to detect the exceptional event depending on the nature of said exceptional event. [Tab.1] Exceptional event Standard Sensor Optional Sensor excessively exceeding a measured temperature Temperature sensor in an electrical cabinet or motor - intensive use of the crane Event recorder Digital twin loss of a crane load Event recorder - crane overload Event recorder - a collision of the crane with an obstacle Event recorder - a wind speed greater than a defined wind speed limit Anemometer Or Event Recorder detection of autorotation or oscillation of the crane Anemometer Or Event Recorder Anemometer or Weather vane or digital twin a crushing of the crane foundations inclinometer inclinometer

Advantageously, the crane 1 can be configured to have a digital twin, i.e. a digital simulation model which updates and whose properties change as the properties of the crane 1 change.

Advantageously, the digital twin is configured to allow the operation of the crane 1 to be adjusted according to a history of use of the crane 1 and analysis data from the manufacturer of the crane 1. In particular for a conditional maintenance and fingerprint detection of defects.

Thanks to the digital twin, a crane operator can verify the validity of the hypotheses adopted for the installation of crane 1.

Advantageously, the exceptional event can be detected by the crane 1 itself or by its digital twin.

The occurrence of the exceptional event can be recorded in the event recorder of the control-command system 20 of the crane 1.

The occurrence of the exceptional event can also be recorded in the digital twin, with a return to service of crane 1, the terms of which are clearly identified.

There figure 1 presents the main steps of the security process described.

The security method firstly comprises a step of establishing a list S1 consisting of establishing a list of exceptional events detectable by means of the movement, load and security sensors 3 and storing it in a memory unit 21 connected to the processing unit 2.

The list of exceptional events may include excessive exceeding of a measured temperature, associated event information corresponding to a measured temperature.

The list of exceptional events may further include intensive use of the crane 1, the associated event information corresponding to a load spectrum or a load factor calculated from a history of use of the crane 1.

The list of exceptional events may further include a loss of a load of the crane 1, the associated event information corresponding to a measured mass of the load 5 lifted by the crane 1.

The list of exceptional events may further include an overload of the crane 1, the associated event information corresponding to a measured mass of the load 5 carried by the crane 1.

The list of exceptional events may include an accidental overload of the crane 1 in operation greater than 125% of a maximum operating load of the crane 1, the associated event information corresponding to a measure of permanent damage by means of a load measuring sensor.

The list of exceptional events may further include a collision of the crane 1 with an obstacle, the associated event information corresponding to a collision alarm signal transmitted by an anti-collision system mounted on the crane 1.

The exceptional event list may further include a wind speed greater than a defined wind speed limit, the associated event information corresponding to a wind speed measurement.

The list of exceptional events may further include a detection of autorotation or oscillation of the crane 1, the associated event information corresponding to a moment of rotation of the crane 1 measured using an accelerometer .

The list of exceptional events may further include a detection of a crossing of the crane 1 into the wind, the associated event information corresponding to a measurement of a wind direction using one or more weather vanes.

The list of exceptional events may also include a detection of inappropriate operation of the crane 1, the associated event information being detected by the control-command system 20.

The list of exceptional events may further include a crushing of the foundations of the crane 1, the associated event information corresponding to a measurement of an angle of inclination of the base of the crane 1.

The security process then implements a step of association with severity levels S2 which consists of associating, with each exceptional event in the list of exceptional events, several severity levels, each severity level being a function of a value of the event information from at least one of the movement, load and security sensors 3.

• soit de manière instantanée, en créant dans le système de contrôle-commande 20 une fonction de sécurité programmée non paramétrable, autrement dit non modifiable par l'utilisateur qui détecte en instantané les défauts en fonction des valeurs enregistrées par l'ensemble des capteurs ainsi que de la cohérence de ces valeurs, comme pour une conduite brutale de la grue 1 par exemple.
• soit de manière quasi instantanée, au moment de la survenue de l'évènement exceptionnel, en créant dans l'enregistreur d'évènements une fonction de sécurité programmée et éventuellement paramétrable par l'utilisateur de la grue 1 qui détecte des défauts dans la grue 1 en fonction des valeurs enregistrées par l'ensemble des capteurs de mouvements, de charge et de sécurité 3 et de la cohérence de ces valeurs, comme par exemple une vitesse de vent maximale instantanée mesurée sur la grue 1 dans un intervalle de quelques minutes centré sur le moment de la survenue de ce vent.
• soit en analysant à l'aide du jumeau numérique les valeurs des paramètres enregistrés dans l'historique de l'enregistreur d'évènements, comme c'est le cas lors d'une utilisation trop intensive de la grue 1 ou d'une maintenance prédictive.

The severity level is determined based on the event information values recorded by the movement, load and security sensors 3 in different ways:

• either instantly, by creating in the control-command system 20 a non-configurable programmed safety function, in other words not modifiable by the user which instantly detects faults according to the values recorded by all the sensors as well as of the consistency of these values, as for brutal operation of crane 1 for example.
• or almost instantly, at the time of the occurrence of the exceptional event, by creating in the event recorder a safety function programmed and possibly configurable by the user of the crane 1 which detects faults in the crane 1 depending on the values recorded by all the movement, load and safety sensors 3 and the consistency of these values, such as for example an instantaneous maximum wind speed measured on the crane 1 in an interval of a few minutes centered on the time of the occurrence of this wind.
• either by analyzing using the digital twin the values of the parameters recorded in the history of the event recorder, as is the case during excessive use of crane 1 or predictive maintenance .

Table [Tab.2] describes examples of factors taken into account to determine the severity level. Tab.2 Exceptional event Factor(s) taken into account to determine the level of severity excessively exceeding a measured temperature When the crane is in service: - Crane temperature; And - Charge spectrum; And - Wind speed. When the crane is out of service: - Crane temperature; And - Wind speed. intensive use of the crane - Charge spectrum; And - Crane utilization rate loss of a crane load - Detection of a defect imprint and - Load value; And - position of the truck at the time of the occurrence of the exceptional event crane overload - Permanent monitoring of the load value; And - Crane moment; And - Crane rotation speed. a collision of the crane with an obstacle - Detection of a defect imprint and - Load value; And - position of the load and the crane at the time of the occurrence of the exceptional event. a wind speed greater than a defined wind speed limit - Permanent monitoring of wind speeds recorded on the crane. detection of autorotation or oscillation of the crane - Detection of a defect fingerprint a crushing of the crane foundations - Measuring the inclination of the crane

Then a step of association with S3 security instructions is implemented which consists of associating, with each exceptional event and for each level of severity, a safety instructions relating to actuators 40, 41, 42 and defining at least one degree of limitation of at least one movement of the crane 1.

When the crane 1 operates in a nominal operating mode, the security method implements a step of detecting an exceptional event S4 consisting of detecting by the control-command system 20 an exceptional event from the list of exceptional events depending on the event information from at least one of the movement, load and security sensors 3.

Advantageously, the security process makes it possible to activate or deactivate the detection of exceptional events depending on their nature, as well as in certain cases, to define an alert level.

For example, a typical case is a wind speed to which the crane 1 is subjected, for which the user of the crane 1 records in the control-command system 20 a wind speed limit value not to be exceeded and au- beyond which he will be alerted. This alert tells the user that they have exceeded the limit value they had set on the site. Thus, the stability of crane 1 was therefore not in danger. On the other hand, if there are one or more alerts during the construction site, the user of the crane 1 can understand that the assumptions adopted to estimate the wind speeds on the construction site are probably incorrect.

Advantageously, the security method therefore allows the user of the crane 1 to improve and refine their prediction models.

Advantageously, and for example, the securing method allows a crane rental company or an equipment department of a construction company to impose a limitation on a given wind profile to ensure that its cranes are used in compliance with local rules regarding wind conditions.

If, for example, crane 1 is subject to site effects which have been poorly anticipated, the danger of damage or even tilting of crane 1 is then significant. But if the user activates the security process for this exceptional event, then the user can ensure that the behavior of the crane 1 is adequate under reasonable weather conditions, or that there is no risk of damage. damage before an occurrence of a violent wind which will be the aggravating factor which could lead to the collapse of crane 1.

Advantageously, thanks to the invention, the user of the crane 1 can check the performance of his crane installation processes, and in particular tower cranes, in complete safety.

The security method subsequently implements a step of evaluating a severity level S5 which consists of an evaluation by the control-command system 20 a level of severity of the exceptional event detected as a function of the value of the corresponding event information.

The exceptional event can then be classified as critical or non-critical depending on its nature. In addition to the nature of the exceptional event, there is an assessment of the level of severity of the exceptional event.

• Niveau 0 : risque d'endommagement critique, danger imminent, risque sécuritaire ;
• Niveau 1 : risque d'endommagement critique ;
• Niveau 2 : risque d'endommagement non critique à court terme ;
• Niveau 3 : risque d'endommagement non critique à long terme.

Severity levels can be defined based on the risk of damage to crane 1:

• Level 0: risk of critical damage, imminent danger, security risk;
• Level 1: risk of critical damage;
• Level 2: risk of non-critical damage in the short term;
• Level 3: risk of non-critical damage in the long term.

• le niveau de sévérité 0 correspond à une température d'utilisation de la grue 1 inférieure à - 35°C, une charge maximale supérieure à 70% de la charge maximale d'utilisation supportée par la grue 1 et un moment supérieur à 85% du moment maximal de la grue 1.
• le niveau de sévérité 1 correspond à une température d'utilisation de la grue 1 inférieure à - 35°C, une charge maximale supérieure à 50% de la charge maximale d'utilisation supportée par la grue 1 et un moment supérieur à 70% du moment maximal de la grue 1.
• le niveau de sévérité 2 correspond à une température d'utilisation de la grue 1 inférieure à - 25°C, ou une température de montage de la grue 1 inférieure à -20°C.
• le niveau de sévérité 3 correspond à une température d'utilisation de la grue 1 inférieure à - 20°C, ou une température de montage de la grue 1 inférieure à -10°C.

For example, if the exceptional event considered is excessively exceeding the minimum operating temperature of crane 1, then:

• severity level 0 corresponds to an operating temperature of crane 1 lower than - 35°C, a maximum load greater than 70% of the maximum operating load supported by crane 1 and a moment greater than 85% of the maximum crane moment 1.
• severity level 1 corresponds to an operating temperature of crane 1 lower than - 35°C, a maximum load greater than 50% of the maximum operating load supported by crane 1 and a moment greater than 70% of the maximum crane moment 1.
• Severity level 2 corresponds to an operating temperature of crane 1 lower than -25°C, or an assembly temperature of crane 1 lower than -20°C.
• Severity level 3 corresponds to an operating temperature of crane 1 lower than - 20°C, or an assembly temperature of crane 1 lower than -10°C.

According to one mode of implementation, the control-command system 20 makes it possible to limit certain movements for different speed values or loads depending on the nature of the exceptional event and its level of severity.

According to one mode of implementation, the control system 20 limits all movements to a limited maximum speed and/or load.

Then, the securing method implements a step of switching to secure operation S6, which consists of the control-command system 20 switching the crane 1 from the nominal operating mode to a secure operating mode in which the system control-command 20 applies the safety instruction associated with the severity level evaluated for the exceptional event detected.

The safe or degraded operating mode of the machine can be determined depending on the nature of the exceptional event and its assessed severity.

According to one mode of implementation of the security method, operation in degraded mode is managed directly by the control-command system 20 of the crane 1 which must be designed to do so.

• un mode nominal, dans lequel la grue 1 est en service de manière normale, autrement dit en effectuant les mouvements de grue 1 comme un levage, une distribution etc. à vitesse normale.
• un mode hors service, dans lequel il y a une coupure générale de l'énergie alimentant la grue 1, et dans lequel une mise en girouette de la grue 1 est maintenue mécaniquement.
• un mode montage, réservé à un expert ou technicien dans l'installation de la grue 1 et accessible avec un enregistrement d'un code expert ou technicien. Dans ce mode, la grue 1 peut uniquement effectuer des mouvements nécessaires à son montage.
• un mode apprentissage, réservé à un expert dans l'installation de la grue 1 et accessible avec un enregistrement d'un code expert ou technicien. Dans ce mode, on règle la grue 1 suite à son montage et avant sa mise en service.
• un mode maintenance ou mode shunt, réservé à un expert dans l'installation de la grue 1 et accessible avec un enregistrement d'un code expert ou technicien. Dans ce mode, on effectue une maintenance de la grue 1 et on peut débloquer la grue 1 suite à son blocage en montage.

Generally speaking, the crane 1 can have various operating modes including:

• a nominal mode, in which the crane 1 is in service in a normal manner, in other words carrying out the movements of crane 1 such as lifting, distribution etc. at normal speed.
• an out-of-service mode, in which there is a general cut-off of the energy supplying the crane 1, and in which a weather vane of the crane 1 is maintained mechanically.
• an assembly mode, reserved for an expert or technician in the installation of crane 1 and accessible with registration of an expert or technician code. In this mode, crane 1 can only perform movements necessary for its assembly.
• a learning mode, reserved for an expert in the installation of crane 1 and accessible with registration of an expert or technician code. In this mode, the crane 1 is adjusted following its assembly and before it is put into service.
• a maintenance mode or shunt mode, reserved for an expert in the installation of crane 1 and accessible with registration of an expert or technician code. In this mode, maintenance is carried out on crane 1 and crane 1 can be unblocked following its blockage during assembly.

The crane 1 can also be configured to switch to a secure operating mode following the occurrence of the exceptional event, for example.

• mode « dégradé 0 », dans lequel seuls des mouvements nécessaires à une mise en sécurité de la grue 1 sont autorisés et après lequel la grue 1 ne peut être démarrée dans un mode de fonctionnement autre que le mode maintenance. Dans ce mode, les mouvements de la grue 1 comme le levage, la distribution, la translation sont effectués à vitesse réduite et des limiteurs de mouvements de la grue 1 sont partiellement actifs.
• mode « dégradé 1 », dans lequel la grue 1 fonctionne à une fraction de ses capacités maximales de charge ou de moment. Dans ce mode, les mouvements de la grue 1 comme le levage, la distribution, la translation sont effectués à vitesse réduite et les limiteurs de mouvements de la grue 1 sont actifs.
• mode « dégradé 2 », dans lequel la grue 1 fonctionne à une fraction de ses capacités de vitesse pour un seul ou plusieurs types de mouvement de la grue 1. Dans ce mode, les mouvements de la grue 1 comme le levage, la distribution, la translation sont effectués à vitesse réduite et les limiteurs de mouvements de la grue 1 sont actifs.

The safe operating mode of crane 1 can be chosen from the following operating modes:

• “degraded 0” mode, in which only movements necessary to secure the crane 1 are authorized and after which the crane 1 cannot be started in an operating mode other than maintenance mode. In this mode, the movements of crane 1 such as lifting, distribution, translation are carried out at reduced speed and the movement limiters of crane 1 are partially active.
• “degraded 1” mode, in which crane 1 operates at a fraction of its maximum load or moment capacities. In this mode, the movements of crane 1 such as lifting, distribution, translation are carried out at reduced speed and the movement limiters of crane 1 are active.
• “degraded 2” mode, in which the crane 1 operates at a fraction of its speed capabilities for a single or more types of movement of the crane 1. In this mode, the movements of the crane 1 such as lifting, distribution, the translation is carried out at reduced speed and the movement limiters of crane 1 are active.

According to one possibility, the “degraded 1” and “degraded 2” modes can be activated simultaneously by the control-command system 20.

Thus, for example, if the crane 1 is in service following the occurrence of the exceptional event, the crane 1 can be configured to allow movements of the crane 1 at low speed, to allow release of the load 5 and to switch out of service.

Advantageously, the switch to secure operation can be carried out automatically by the control system 20.

Advantageously, switching to secure operation cannot be prevented by the crane operator.

For example, if the exceptional event detected is an excessive exceeding of the minimum ambient temperature for use of the crane 1, and if the severity level is evaluated at a severity level 0 then the control-command system 20 switches the operating mode of crane 1 to “degraded 0” mode. If the severity level is evaluated at a severity level 1 or 2 then the control-command system 20 switches the operating mode of the crane 1 to “degraded 1” mode, and if the severity level is evaluated at a level of severity 3 then the control-command system 20 displays on a display interface 22 an information message presenting precautions to be taken when using the crane 1.

The display interface 22 can for example designate a screen connected to the control-command system 20 of the crane 1 and the display of which can be seen by the crane operator.

According to one possibility, the display interface 22 is replaced or supplemented by an audio interface emitting an audible message perceptible by the crane operator.

The security method then implements an emission step S7 by the control-command system 20 of an alert message informing of the occurrence of the exceptional event.

Once the exceptional event has been detected and the severity level has been estimated, the user of the crane 1 is warned by alarm means and by the display interface 22 of the control-command system 20 of the crane 1.

• de la nature de l'évènement exceptionnel ;
• des limitations imposées à l'utilisation de la grue 1, dans le cas où la grue 1 peut encore être utilisée,
• des instructions à suivre pour contrôler la grue 1 et la remettre en condition de fonctionnement nominal.

An alert message can for example be displayed on the display interface 22 and inform the crane operator:

• the nature of the exceptional event;
• limitations imposed on the use of crane 1, in the event that crane 1 can still be used,
• instructions to follow to check crane 1 and return it to nominal operating condition.

According to one possibility, the control-command system 20 can carry out warning or prevention actions depending on the exceptional event detected as well as the severity of said exceptional event.

According to one possibility, the digital twin can be configured to inform a user of the crane 1 remotely, in other words not present on the site where the crane 1 is mounted.

According to one possibility, cranes equipped with a digital twin communicate the alert message in real time or with little delay directly to the user of crane 1.

According to one possibility, the safety instruction is associated with an alert message relating to the exceptional event, and possibly to the level of severity associated with the exceptional event.

The application of the safety instruction implies that the control-command system 20 blocks the movements of the crane 1 or imposes limitations on the movements of the crane 1.

Depending on the nature and criticality of the exceptional event, the security process implements different phases of return to nominal operation after switching the crane 1 to secure operating mode.

• une étape de réception d'un code de déverrouillage CC3 qui consiste en une réception par le système de contrôle-commande 20 d'un code de déverrouillage ;
• une étape de basculement vers le mode de fonctionnement nominal CC4 qui consiste en un basculement de la grue 1 par le système de contrôle-commande 20 du mode de fonctionnement sécurisé vers le mode de fonctionnement nominal, en réponse à la réception dudit code de déverrouillage.

Thus, the list of exceptional events may include at least one critical exceptional event associated with at least one critical severity level among the several severity levels associated with said critical exceptional event, and in which after the step of switching to secure operation S6 following the detection of said critical exceptional event (in step S4) and the evaluation of said critical severity level (in step S5), said security method implements a return to nominal operation phase presented in figure 2 and including:

• a step of receiving an unlocking code CC3 which consists of reception by the control-command system 20 of an unlocking code;
• a step of switching to the nominal operating mode CC4 which consists of a switching of the crane 1 by the control-command system 20 from the secure operating mode to the nominal operating mode, in response to receipt of said unlocking code.

The return to nominal operation phase may further comprise, before the reception step CC3, an input step CC1 consisting of entering the unlocking code on an input interface 23 in connection with the control-command system 20, such as for example an interface integrated into the crane 1 or a remote interface in radio communication with the control-command system 20, as well as an identification step CC2 consisting of an identification of the unlocking code received in a series of unlocking codes prerecorded in the memory unit 21.

It is only on the condition of having received the unlocking information that the control system 20 switches the crane 1 from the secure operating mode to the nominal operating mode.

Critical exceptional events require an inspection of crane 1, the site where crane 1 is mounted and possibly handling of crane 1 by competent personnel such as a technician or an expert.

By requiring entry of unlocking information or an individual expert code directly on the input interface 23 connected to the control-command system 20 of the crane 1, the security method advantageously makes it possible to identify the expert performing the unlocking operation.

Advantageously, the security process requires the expert to travel to the site where the crane 1 is mounted in order to observe the causes and effects of the exceptional event.

• après le basculement en fonctionnement sécurisé suite à la détection dudit évènement exceptionnel critique et à l'évaluation dudit niveau de sévérité non critique, ledit procédé de sécurisation met en oeuvre une phase de retour en fonctionnement nominal présentée à la figure 3 et comprenant :
  • une étape d'émission d'instructions CA1 consistant en une émission par le système de contrôle-commande 20 d'une série d'instructions caractérisant une démarche à suivre pour un retour vers le mode de fonctionnement nominal ;
  • une étape de basculement vers le mode de fonctionnement nominal CA2 qui consiste en un basculement de la grue 1 par le système de contrôle-commande 20 du mode de fonctionnement sécurisé vers le mode de fonctionnement nominal, en réponse à une réalisation effective de la série d'instructions.

In addition, the list of exceptional events may include at least one critical exceptional event associated with at least one non-critical severity level distinct from the critical severity level(s) and in which

• after the switch to secure operation following the detection of said critical exceptional event and the evaluation of said non-critical level of severity, said security method implements a return to nominal operation phase presented in the Figure 3 and including:
  • a step of issuing instructions CA1 consisting of a transmission by the control-command system 20 of a series of instructions characterizing a procedure to follow for a return to the nominal operating mode;
  • a step of switching to the nominal operating mode CA2 which consists of a switching of the crane 1 by the control-command system 20 from the secure operating mode to the nominal operating mode, in response to an effective realization of the series d 'instructions.

• une étape d'émission d'instructions NC1 qui consiste en une émission par le système de contrôle-commande 20 d'une série d'instructions caractérisant une démarche à suivre pour un retour vers le mode de fonctionnement nominal ;
• une étape de basculement vers le mode de fonctionnement nominal NC2 qui consiste en un basculement de la grue 1 par le système de contrôle-commande 20 du mode de fonctionnement sécurisé vers le mode de fonctionnement nominal, en réponse à une réalisation effective de la série d'instructions.

According to one possibility, the list of exceptional events may include at least one non-critical exceptional event, distinct from the critical exceptional event(s), and in which
after the switch to secure operation following the detection of said non-critical exceptional event and whatever the evaluation of the associated severity level, said security method implements a return to nominal operation phase presented in the Figure 4 and including:

• a step of issuing instructions NC1 which consists of an emission by the control-command system 20 of a series of instructions characterizing a procedure to follow for a return to the nominal operating mode;
• a step of switching to the nominal operating mode NC2 which consists of a switching of the crane 1 by the control-command system 20 of the operating mode secured to the nominal operating mode, in response to an effective completion of the series of instructions.

Advantageously, the security method allows the transmission to the crane operator of messages recorded in the control-command system 20 in the form of a series of instructions or recommendations once the exceptional event has been detected.

The digital twin can further be configured to allow the series of instructions or recommendations as well as the messages displayed on the display interface 22 to be updated based on the user experience of the crane 1, in particular concerning frequent faults following the occurrence of the exceptional event, therefore faults for which the manufacturer of crane 1 must configure a solution as quickly and easily as possible.

Advantageously, the security method makes it possible to improve the overall level of security of the use of tower cranes, in the medium and long term, by detecting exceptional events and without blocking the crane 1, but rather by limiting its productivity, or even by stopping crane 1 in the event of imminent danger.

Advantageously, the crane 1 can be configured to switch to secure operating mode remotely by a manufacturer of the crane 1 following the discovery on another crane of the same type or belonging to the same series of a potentially defect. dangerous following the occurrence of the exceptional event.

According to one possibility, the security process can be activated or deactivated by the user of the crane 1 for each exceptional event depending on a risk of occurrence of said exceptional event in the crane 1.

According to one possibility, the security process can be activated by default, and the user of the crane 1 can choose to activate or deactivate it for each exceptional event.

Advantageously, the securing method makes it possible to use the crane 1 in degraded mode in order to continue a construction site or to place the crane 1 in safety, with the aim of limiting losses in productivity of the construction site.

Advantageously, the securing process makes it possible to preserve a safety dimension on the site despite frequent or severe interruption of the operation of the crane 1.

Advantageously, the security method can be configured to be implemented in software form, with minimal cost for the manufacturer and the user of the crane 1.

According to one possibility, the security method can be integrated into the crane 1 as soon as the crane 1 is installed or implemented on the crane 1 subsequent to the installation of the crane 1 as an additional security option.

Advantageously, the securing method can be implemented on different types of construction machines, other than cranes for example.

• l'unité de traitement 2, pouvant par exemple être un microcontrôleur, un microprocesseur, ou une carte électronique de commande, connectée aux capteurs de mouvements, de charge et de sécurité 3 placés sur les éléments de la grue 1 (tels que le mât 10 et/ou la flèche 11) et délivrant des informations d'évènement respectives représentatives d'évènements exceptionnels ;
• l'unité de mémoire 21 reliée à l'unité de traitement 2, et stockant la liste d'évènements exceptionnels détectables au moyen des capteurs de mouvements, de charge et de sécurité 3, chaque évènement exceptionnel étant associé à plusieurs niveaux de sévérité, chaque niveau de sévérité étant fonction d'une valeur de l'information d'évènement d'au moins un des capteurs de mouvements, de charge et de sécurité 3, et dans lequel à chaque évènement exceptionnel et pour chaque niveau de sévérité, est associée une consigne de sécurité relative aux actionneurs 40, 41, 42 et définissant au moins un degré de limitation d'au moins un mouvement de la grue 1 ;
• le système de contrôle-commande 20 décrit précédemment et connecté aux actionneurs 40, 41, 42 de la grue 1 pour gérer des mouvements de la grue 1 et d'une charge 5 suspendue à la grue 1 et intégré au sein de l'unité de traitement 2 de la grue 1,

ledit système de contrôle-commande 20 étant configuré pour :

• la grue 1 fonctionnant dans un mode de fonctionnement nominal, détecter un évènement exceptionnel de la liste d'évènements exceptionnels en fonction de l'information d'évènement issue d'au moins un des capteurs de mouvements, de charge et de sécurité 3 ;
• évaluer le niveau de sévérité de l'évènement exceptionnel en fonction de la valeur de l'information d'évènement correspondante;
• faire basculer la grue 1 du mode de fonctionnement nominal à un mode de fonctionnement sécurisé dans lequel le système de contrôle-commande 20 applique la consigne de sécurité associée au niveau de sévérité évalué pour l'évènement exceptionnel détecté;
• émettre un message d'alerte informant de la survenue de l'évènement exceptionnel.

The invention further relates to the crane 1 (shown schematically on the Figure 5 ) including:

• the processing unit 2, which may for example be a microcontroller, a microprocessor, or an electronic control card, connected to the movement, load and safety sensors 3 placed on the elements of the crane 1 (such as the mast 10 and/or arrow 11) and delivering respective event information representative of exceptional events;
• the memory unit 21 connected to the processing unit 2, and storing the list of exceptional events detectable by means of the movement, load and security sensors 3, each exceptional event being associated with several levels of severity, each severity level being a function of a value of the event information from at least one of the movement, load and security sensors 3, and in which each exceptional event and for each severity level is associated with a safety instruction relating to the actuators 40, 41, 42 and defining at least one degree of limitation of at least one movement of the crane 1;
• the control-command system 20 described previously and connected to the actuators 40, 41, 42 of the crane 1 to manage movements of the crane 1 and of a load 5 suspended from the crane 1 and integrated within the control unit treatment 2 of crane 1,

said control-command system 20 being configured for:

• the crane 1 operating in a nominal operating mode, detect an exceptional event from the list of exceptional events according to the event information coming from at least one of the movement, load and safety sensors 3;
• evaluate the level of severity of the exceptional event based on the value of the corresponding event information;
• switch the crane 1 from the nominal operating mode to a secure operating mode in which the control-command system 20 applies the safety instruction associated with the severity level evaluated for the exceptional event detected;
• issue an alert message informing of the occurrence of the exceptional event.

Although the invention has been described in connection with particular examples of embodiment, it is quite obvious that it is in no way limited and that it includes all the technical equivalents of the means described as well as their combinations if these fall within the scope of the invention defined in the following claims.

Claims (9)

1. A securing method for securing a crane (1) on the occurrence of an exceptional event among a plurality of predefined exceptional events, the crane (1) comprising a control-command system (20) connected to actuators (40, 41, 42) of the crane (1) to manage movements of the crane (1) and of a load (5) suspended from the crane (1) and integrated within a processing unit (2) of the crane (1), the processing unit (2) being connected to movement, load and safety sensors (3) placed on elements (10, 11) of the crane (1) and delivering respective event information representative of the exceptional events, and the securing method comprises the following steps of:

   - establishing (S1) a list of exceptional events detectable by means of the movement, load and safety sensors (3) and its storage in a memory unit connected to the processing unit (2);

   - associating (S2), to each exceptional event of the list of exceptional events, with several levels of severity, each level of severity being a function of a value of the event information of at least one of the movement, load and safety sensors (3);
   characterized by

   - associating (S3), to each exceptional event and to each level of severity, with a safety instruction relating to the actuators (40, 41, 42) and defining at least one degree of limitation of at least one movement of the crane (1);

   - the crane (1) operating in a nominal operating mode, detection (S4) by the control-command system (20) of an exceptional event from the list of exceptional events according to the event information from at least one of the movement, load and safety sensors (3);

   - evaluating (S5) by the control-command system (20) of the level of severity of the exceptional event based on the value of the corresponding event information;

   - switching (S6) to secure operation, which consists in that the control-command system (20) switches the crane (1) from the nominal operating mode to a secure operating mode in which the control-command system (20) applies the safety instruction associated with the severity level assessed for the detected exceptional event;

   - emitting (S7) by the control-command system (20) of an alert message informing of the occurrence of the exceptional event.
2. The securing method according to claim 1, wherein the list of exceptional events comprises at least one critical exceptional event associated with at least one critical severity level among the several severity levels associated with said critical exceptional event, and in which
   after the switching (S6) of the crane (1) to secure operation following the detection of said critical exceptional event and the evaluation of said critical severity level, said securing method implements a return to nominal operation phase comprising:

   - a reception (CC3) by the control-command system (20) of an unlocking code;

   - a switching (CC4) of the crane (1) by the control-command system (20) from the secure operating mode to the nominal operating mode, in response to the reception of said unlocking code.
3. The securing method according to claim 2, wherein the return to nominal operation phase comprises a step of entering (CC1) the unlocking code on an entering interface (23) in communication with the control-command system (20).
4. The securing method according to any of claims 2 or 3, wherein the return to nominal operation phase further comprises a step of identifying (CC4) the unlocking code received in a series of unlocking codes pre-recorded in the memory unit.
5. The securing method according to any of claims 2 to 4, wherein at least one critical exceptional event is associated with at least one non-critical severity level distinct from the critical severity level(s) and in which
   after the switching to secure operation following the detection of said critical exceptional event and the evaluation of said non-critical severity level, said securing method implements a return to nominal operation phase comprising:

   - an emission (CA1) by the control-command system (20) of a series of instructions characterizing the procedure to be followed for a return to the nominal operating mode;

   - a switching (CA2) of the crane (1) by the control-command system (20) from the secure operating mode to the nominal operating mode, in response to effective execution of the series of instructions.
6. The securing method according to any of claims 2 to 5, wherein the list of exceptional events comprises at least one non-critical exceptional event, distinct from the critical exceptional event(s), and in which
   after switching to secure operation following the detection of said non-critical exceptional event and regardless of the assessment of the associated level of severity, said securing method implements a return to nominal operation phase comprising:

   - an emission (NC1) by the control-command system (20) of a series of instructions characterizing the procedure to be followed for a return to the nominal operating mode;

   - a switching (NC2) of the crane (1) by the control-command system (20) from the secure operating mode to the nominal operating mode, in response to effective execution of the series of instructions.
7. The securing method according to any of the preceding claims, wherein the secure operating mode of the crane (1) is selected from the following operating modes:

   - «degraded 0» mode, in which only movements necessary to make the crane (1) safe are authorized;

   - «degraded 1 » mode, in which the crane (1) operates at a fraction of its maximum load or moment capacities;

   - «degraded 2» mode, in which the crane (1) operates at a fraction of its speed capacity.
8. The securing method according to claim 1, wherein the list of exceptional events comprises at least one of the following events:

   - excessive exceedance of a measured temperature, the associated event information corresponding to a measured temperature;

   - an intensive use of the crane (1), the associated event information corresponding to a load spectrum or to a load factor calculated from a history of use of the crane (1);

   - a loss of a load (5) from the crane (1), the associated event information corresponding to a measured mass of the load (5) lifted by the crane (1);

   - an overload of the crane (1), the associated event information corresponding to a measured mass of the load (5) carried by the crane (1);

   - an accidental overload of the crane (1) in operation greater than 125% of a maximum operating load of the crane (1), the associated event information corresponding to a measurement of permanent damage by means of a load measurement sensor;

   - a collision of the crane (1) with an obstacle, the associated event information corresponding to a signal of collision alarm transmitted by an anti-collision system mounted on the crane (1);

   - a wind speed greater than a defined wind speed limit, the associated event information corresponding to a measure of wind speed;

   - a detection of an autorotation or an oscillation of the crane (1), the associated event information corresponding to a moment of rotation of the crane (1) measured using an accelerometer;

   - a detection of the crane (1) being put across in the wind, the associated event information corresponding to a measurement of a wind direction using one or more wind vanes;

   - a detection of an inappropriate behavior of the crane (1), the associated event information being detected by the control-command system (20);

   - a crushing of the foundations of the crane (1), the associated event information corresponding to a measurement of an angle of inclination of the base of the crane (1).
9. A crane (1) comprising:

   - a processing unit (2) connected to movement, load and safety sensors (3) placed on elements (10, 11) of the crane (1) and delivering respective event information representative of exceptional events;

   - a memory unit connected to the processing unit (2), and storing a list of exceptional events detectable by means of movement, load and safety sensors (3), each exceptional event being associated with several levels of severity, each level of severity being a function of a value of the event information of at least one of the movement, load and safety sensors (3),

   characterized in that to each exceptional event and to each level of severity is associated a safety instruction relating to the actuators (40, 41, 42) and defining at least one degree of limitation of at least one movement of the crane (1);

   - a control-command system (20) connected to actuators (40, 41, 42) of the crane (1) to manage movements of the crane (1) and of a load (5) suspended from the crane (1) and integrated within the processing unit (2) of the crane (1),

   said control-command system (20) being configured for:

   - the crane (1) operating in a nominal operating mode, detecting an exceptional event from the list of exceptional events according to the event information from at least one of the movement, load and safety sensors (3);

   - assessing the level of severity of the exceptional event according to the value of the corresponding event information;

   - switching the crane (1) from the nominal operating mode to a secure operating mode in which the control-command system (20) applies the safety instruction associated with the level of severity assessed for the detected exceptional event;

   - emitting an alert message informing of the occurrence of the exceptional event.

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